diff --git a/README.md b/README.md index bf16dd6..6085827 100644 --- a/README.md +++ b/README.md @@ -1,8 +1,8 @@ # LinuxCNC Web/WASM -本仓库的目标是将 LinuxCNC `2.10.0~pre0` 的仿真行为移植到浏览器。当前提交完成的是实施前 M0/M1 骨架，不是 LinuxCNC 功能完成声明。 +本仓库的目标是将 LinuxCNC `2.10.0~pre0` 的仿真行为移植到浏览器。当前已完成 posemath/TP、rs274ngc interpreter 和 fixed-tick motion queue 核心切片；这仍不是 LinuxCNC 全功能完成声明。 -恢复或开始工作时，首先读取 [`nextTask.md`](nextTask.md)。它是当前任务节点、下一任务节点、验证证据和切换规则的唯一接续入口。 +恢复或开始工作时，首先读取 [`nextTask.md`](nextTask.md)。它是唯一接续入口，刻意限制在 8 KiB 以内，不包含聊天记录、完整日志或历史证据。只有定位旧证据时才按需读取 [`docs/task-history.md`](docs/task-history.md) 和其中引用的产物。 ## 当前状态 @@ -11,6 +11,10 @@ - 覆盖种子：`coverage/manifest.jsonl`。所有条目初始为 `planned/needs_owner`，没有来源会被静默忽略。 - WASM ABI 骨架：`wasm-core/include/sim_api.h`；当前实现只验证生命周期、固定 tick、快照和状态导入导出。 - 前端、Worker、HAL、解释器、TP、Python、OPFS 和 UI 功能仍须按文档里程碑实现。 +- `K0-INV-01`、`K0-INV-02`、`K0-ORACLE-01`、`K1-CONTRACT-01`、`K1-CONTRACT-02`、`K1-NUM-01`、`K2-TRIV-01`、`K2-TRIV-02`、`K2-COUPLED-01`、`K2-HAL-01`、`K3-5AXIS-01`、`K3-TRT-01`、`K3-ROBOT-01` 和 `K3-GENSER-01` 已完成；Genser melfa/puma560 DH、迭代 residual、固定上限和 native/WASM 对照见 `coverage/genser-kinematics.report.json`；其它运动学证据保持在对应 `coverage/*-kinematics.report.json`。旧 `M2-CORE-04` 因锁定来源缺少声明的 `linuxcnc/unit_tests/kinematics/**` 输入而保留为 blocked 证据。 +- `K4-DELTA-01` 已完成 linear/rotary Delta 的统一解析 FK/IK、XYZ/extra-joint mapping、默认/alternate root、工作空间/限位/奇异边界和 native/WASM 对照；四个真实配置候选、缺失 HAL 资源和官方 oracle blocked 清单见 `coverage/delta-kinematics.report.json`。旧 `M2-CORE-04` 因锁定来源缺少声明的 `linuxcnc/unit_tests/kinematics/**` 输入而保留为 blocked 证据。 +- `K4-TRIPOD-01` 已完成 point-vertex tripod 的统一 FK/IK/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/退化几何和 native/WASM state hash 对照见 `coverage/tripod-kinematics.report.json`。`nextTask.md` 当前进入 `K4-HEX-01`；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续显式 blocked。 +- `K4-HEX-01` 已完成 genhex 六腿 Stewart 平台的统一 FK/IK/mapping；真实 `hexapod.ini`/`kinematics.hal`、Newton 6x6 正解、闭式逆解、迭代/奇异/限位边界和 native/WASM 对照见 `coverage/genhex-kinematics.report.json`。`nextTask.md` 当前进入 `K4-PENTA-01`；官方 oracle 继续显式 blocked。 ## 重建 M0 @@ -18,8 +22,11 @@ python3 scripts/generate_source_inventory.py python3 scripts/validate_baseline.py python3 -m unittest discover -s scripts -p 'test_*.py' -v +python3 scripts/validate_task_pointer.py ``` +模型请求也必须先经过预算门禁：用 `scripts/context_packet.py` 生成固定 profile 的 packet，再运行 `scripts/validate_model_budget.py packet.json --context-window --overhead-tokens `。覆盖值只能缩小 profile；请求外开销不得包含上一轮聊天。请求返回后用 `validate_provider_response` 校验 provider usage，流式响应交给 `scripts/model_stream.py` 消费；断流、上下文超限、usage 缺失或截断只写 metadata-only checkpoint，并从更小的 packet 重建，绝不把旧响应拼回上下文。 + ## 编译 ABI 骨架 需要 Emscripten。该命令同时运行原生 ABI 单测并生成 `build-wasm/linuxcnc-sim-core.js`/`.wasm`： @@ -28,6 +35,6 @@ python3 -m unittest discover -s scripts -p 'test_*.py' -v scripts/build-wasm.sh ``` -完整路线、功能完整性和退出门禁见 [`docs/linuxcnc-web-wasm-implementation-readiness.md`](docs/linuxcnc-web-wasm-implementation-readiness.md)。专项设计仍分别位于 `docs/` 下的 roadmap、source map、coverage、communication、execution 和 playbook 文档。 +完整路线、功能完整性和退出门禁见 [`docs/linuxcnc-web-wasm-implementation-readiness.md`](docs/linuxcnc-web-wasm-implementation-readiness.md)。面向“完整移植仿真机床”的启动闭环、运行时依赖、固定 tick、资源闭包和分阶段产物见 [`docs/linuxcnc-web-wasm-full-port-implementation.md`](docs/linuxcnc-web-wasm-full-port-implementation.md)；运动学正逆解、机床类型分族、分支/奇异性和 K0-K8 主线见 [`docs/linuxcnc-web-wasm-kinematics-migration-plan.md`](docs/linuxcnc-web-wasm-kinematics-migration-plan.md)。专项设计仍分别位于 `docs/` 下的 roadmap、source map、coverage、communication、execution 和 playbook 文档。 依赖下载允许使用中国大陆镜像；请先阅读 `context-lock.json` 的 `downloads` 策略。镜像只改变传输位置，不能改变版本、文件字节或校验记录。 diff --git a/context-lock.json b/context-lock.json index f7592ab..e69f01d 100644 --- a/context-lock.json +++ b/context-lock.json @@ -60,18 +60,25 @@ "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": 8020, - "source_index": 8020, - "manifest_seed": 8020, + "total": 8035, + "source_index": 8035, + "manifest_seed": 8035, "document_capabilities": 2868, "source_symbols": 23983, "config_resources": 16093, "test_entries": 321, "normalized_sources": 51285, - "dependency_edges": 37160 + "dependency_edges": 37160, + "kinematics_source_files": 35, + "kinematics_config_entries": 264, + "kinematics_hal_entries": 113, + "kinematics_test_files": 6, + "kinematics_graph_entries": 377, + "kinematics_graph_edges": 2784, + "kinematics_oracle_samples": 11 }, - "source_index_sha256": "843e35bb7b4c086453c4d370bbd2d1f20445b13a1a56f7273d4eb13079bae41d", - "manifest_seed_sha256": "1a64bedd3629e665411fb87abb6b5de94eed11456acab305fade6bdec18076fd", + "source_index_sha256": "b0719a9cf1031f7305e29075e645f21aa3c3630401e284825565a8b206c83ce4", + "manifest_seed_sha256": "70cd247690616ca260b111fb737c1277c5336f845acc5ac27160eaf87a7c9f93", "document_capabilities_sha256": "fa5140bd4995224406381e4190e76bf81f64bd24dbf93a2fd10421c45aee4316", "source_symbols_sha256": "5fc72e6a268d2220b6335f7f6834c925f13c5c35461fa399a400e6621958875a", "config_resources_sha256": "d4d02cb13f2f9cb58404630d4de8ac0226e02075166fe30f2b03a6abca4be5bc", @@ -81,8 +88,29 @@ "runtime_mapping_report_sha256": "f4be10828fda8201ff9e69de95bc68e5def42fc7206a851b37474c21b4da0a17", "python_runtime_manifest_sha256": "340faa6ef5bedcaeb0583f463e6b89cb442ddf1d83d7e6ee8d96cee438fe4213", "python_runtime_report_sha256": "be531c8cb5af55f9527b6b6b3955ff908a748fae0e37952fa699aecf1a44b399", - "hal_runtime_report_sha256": "70b99118ae6957456e592512d752aa137f59cae897ec546509ff26456879dd90", - "posemath_runtime_report_sha256": "26b04fb285b5d085a980856fffe5707c2e2ccaeddc08c06f2da2491e76256a39", + "hal_runtime_report_sha256": "85f79be090c5fceb3ee633da0fff57c908604938592c9b2cf6a1b2151b588e6b", + "posemath_runtime_report_sha256": "e9680e09dab67f85736f7f6a3bb6bb4456f5f4c93428f72ee3dc94ed0456face", + "interpreter_runtime_report_sha256": "1ffed00d9f0affbbc55e73ab4dca12b0446af11ea7861dfb7597ebe5e1a6cda2", + "motion_runtime_report_sha256": "fb2d36130bf3168bea9b13fe08cc2225d72190a7aa9c99a0f0db7f148ac171df", + "kinematics_runtime_report_sha256": "7090db32ac2af28e13c115b63ba7b894596efe25d8eec9fc27f097db931fde2c", + "kinematics_source_closure_report_sha256": "d3af5e19e38d8dc2640323dcf755d0323e871815087b9eece9d76544b0b0cfa6", + "kinematics_config_graph_report_sha256": "1c7ffe85730b23ee303beae95c7c565506e7c8f10c7bf68d23b980be22b46521", + "kinematics_oracle_samples_sha256": "df32ade49e3c3beb49e52d26200e37766dd04c5bee5dba4b1c87695439bf87bd", + "kinematics_oracle_report_sha256": "66c98703195c69f165a932aadc29015ab748aa005e8bfc223cb04d9d2f65a1af", + "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", + "fiveaxis_kinematics_report_sha256": "5b02508761b7c1d7731e1bf4210563bb289fb8f9860f98ab1aa0a0d316f77369", + "trt_kinematics_report_sha256": "2f655742b5f9de09de903964a4cd85de0391d06ef1e2a35da0d6854f26649b51", + "robot_kinematics_report_sha256": "e3c27bc17b74206038af29fc8f5cc5bc39aca9af161b4f1d2de3be3f9905e5c3", + "genser_kinematics_report_sha256": "9c537fa9d25eb90e10cf594ac960ade29ac3c5dcc4b2a8e0cbef428c147e8e2c", + "delta_kinematics_report_sha256": "c0402979c5783292c9eed353e94c6b308b861457e8fb73a6e6e06882b81939a2", + "tripod_kinematics_report_sha256": "a17e63e50e255ab5ea5bcee6d78796e279f7b0e1c7f753a7963b2ce2b3a787ed", + "genhex_kinematics_report_sha256": "780043fabe9caca0c10554ac7d330fc21e67983177dfe72434dd616a85d8caac", "dependency_closure_sha256": "39ab6b831f4eb53347dbb509855ca05bc557e25abc5d76837c45ce037a3e44a9", "golden_schema_sha256": "5513535b9480d7100ef3ef59ac933c4040bd7198dc419693a7ee68098171c423", "native_runner_report_sha256": "6f2105f154d12b99f4e1cd4af3cdb5df4a462f3665f1447d5959384be5d4fae2", diff --git a/coverage/corexy-hal.report.json b/coverage/corexy-hal.report.json new file mode 100644 index 0000000..367b4c1 --- /dev/null +++ b/coverage/corexy-hal.report.json @@ -0,0 +1,134 @@ +{ + "component": { + "name": "corexy_by_hal", + "period": "fixed HAL tick", + "pins": [ + "j0-motor-pos-cmd", + "j1-motor-pos-cmd", + "alpha-cmd", + "beta-cmd", + "alpha-fb", + "beta-fb", + "j0-motor-pos-fb", + "j1-motor-pos-fb" + ], + "thread": "servo-thread" + }, + "config_scan": { + "alpha_command_to_stepgen": true, + "beta_command_to_stepgen": true, + "component_command_formula": true, + "component_feedback_formula": true, + "hal_and_kins_entries_distinct": true, + "home_j0_before_transform": true, + "home_j1_before_transform": true, + "loadrt_component": true, + "servo_registration": true + }, + "home_semantics": { + "home_inputs": [ + "j0-motor-pos-cmd", + "j1-motor-pos-cmd" + ], + "kins_difference": "corexykins homes motor joints directly", + "reason": "corexy_by_hal.hal routes Cartesian trivkins joint commands to j0home/j1home before alpha/beta stepgens", + "status": "verified" + }, + "implementation_status": "verified", + "native_wasm": { + "byte_identical_json": true, + "native": { + "command": { + "alpha": 4.0, + "beta": 2.0, + "j0": 6.0, + "j1": 2.0 + }, + "feedback": { + "alpha": 4.0, + "beta": 1.0, + "j0": 5.0, + "j1": 3.0 + }, + "function_calls": 1, + "schema": "hal-corexy-sample.v1", + "tick": 1 + }, + "status": "passed", + "wasm": { + "command": { + "alpha": 4.0, + "beta": 2.0, + "j0": 6.0, + "j1": 2.0 + }, + "feedback": { + "alpha": 4.0, + "beta": 1.0, + "j0": 5.0, + "j1": 3.0 + }, + "function_calls": 1, + "schema": "hal-corexy-sample.v1", + "tick": 1 + } + }, + "oracle": { + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "report_sha256": "765c8318c48d7570773d22394c625c0d6c479fdf2e98c62fa48296b61e99c238", + "schema": "corexy-hal-report.v1", + "source_records": { + "component": { + "path": "linuxcnc/src/hal/components/corexy_by_hal.comp", + "sha256": "7cb585058976198779600ee1d27f6b4e225a89c1c6ebcc7ba699291c9463e5a8" + }, + "hal": { + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "sha256": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + "hal_header": { + "path": "wasm-core/include/sim_hal.h", + "sha256": "f0b25fda1c267ed8078469c9966fa3b09721eba77c575affea77d489437a3e49" + }, + "hal_source": { + "path": "wasm-core/src/sim_hal.c", + "sha256": "76a057064546a8ee9ba1098952755a4cdc56e6e714f2761b8a1826898d3ae621" + }, + "hal_test": { + "path": "wasm-core/tests/sim_hal_test.c", + "sha256": "5044ed422b37499291ff85fd7c601acc6665621cf33e9ff4d26f0e8fd5b7d533" + }, + "ini": { + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "sha256": "e838da30ce5fba2d049487d48bd2aeff46b1390a5a448f31980d9ce06121740f" + }, + "kins_ini": { + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini", + "sha256": "b6682cc5186944a44c2aa78501c4f350e56b4da1151348fa9fc3ece5f0eeea3a" + } + }, + "status": "partial", + "transform": { + "command": { + "alpha": "0.5*(j0+j1)", + "beta": "0.5*(j0-j1)" + }, + "direction": "verified against LinuxCNC corexy_by_hal.comp", + "feedback": { + "j0": "alpha+beta", + "j1": "alpha-beta" + }, + "sample": { + "alpha": 4.0, + "alpha_fb": 4.0, + "beta": 2.0, + "beta_fb": 1.0, + "j0": 6.0, + "j0_fb": 5.0, + "j1": 2.0, + "j1_fb": 3.0 + } + } +} diff --git a/coverage/coupled-kinematics.report.json b/coverage/coupled-kinematics.report.json new file mode 100644 index 0000000..743134a --- /dev/null +++ b/coverage/coupled-kinematics.report.json @@ -0,0 +1,436 @@ +{ + "closure": { + "blocking_reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "cartesian_candidate_ids": [ + "config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis.ini:144:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis_9axis.ini:67:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis_mm.ini:136:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/canterp.ini:47:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini:52:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/db_demo/base.inc:38:kinematics:trivkins" + ], + "coupled_linear_source_ids": [ + "source:linuxcnc/src/emc/kinematics/corexykins.c", + "source:linuxcnc/src/emc/kinematics/rosekins.c" + ], + "max_rotate_source_ids": [ + "linuxcnc/src/emc/kinematics/maxkins.c", + "linuxcnc/src/emc/kinematics/rotatekins.c" + ], + "official_oracle": "blocked" + }, + "configuration_candidate_origin": { + "rotatekins": "workspace_derived_fixture; LinuxCNC locked source has no shipped rotatekins config" + }, + "configuration_candidates": { + "corexy_hal": { + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "sha256": "e838da30ce5fba2d049487d48bd2aeff46b1390a5a448f31980d9ce06121740f" + }, + "corexy_kins": { + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini", + "sha256": "b6682cc5186944a44c2aa78501c4f350e56b4da1151348fa9fc3ece5f0eeea3a" + }, + "maxkins": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini", + "sha256": "ea7d453127122b7831e74de2204b446c514f3c999961a4be412b36880bacb8b6" + }, + "rose": { + "path": "linuxcnc/configs/sim/axis/rose_engine/rose_engine.ini", + "sha256": "0685e9ca8c05c903b715e9fed6ecd23cbac13911ed335b6d14e24eb235de25d3" + }, + "rotatekins": { + "path": "linuxcnc/configs/sim/axis/rotate/rotatekins.ini", + "sha256": "324af9a73d21b5f0c9adaf3c97e698422790d403586901f9e161b6020b1fb4fa" + } + }, + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "corexy_entry_distinction": { + "distinct": true, + "hal_component": "linuxcnc/src/hal/components/corexy_by_hal.comp", + "hal_configuration": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "kins_configuration": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini" + }, + "families": { + "corexy": { + "boundary": "configuration coordinate requirements verified", 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"resource:linuxcnc/configs/sim/axis/corexy/3joint_xyz.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:6:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "to": "resource:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:18:hal_transform:corexy_by_hal", + "kind": "declared_in", + "to": 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"to": "family:coupled_linear" + }, + { + "from": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini:10:kinematics:corexykins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini:5:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/corexy/3joint_xyz.hal", + "to": "resource:linuxcnc/configs/sim/axis/corexy/3joint_xyz.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini:10:kinematics:corexykins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini:10:kinematics:corexykins", + "kind": "implements_family", + "to": "family:coupled_linear" + }, + { + "from": "config:linuxcnc/configs/sim/axis/db_demo/base.inc:38:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/db_demo/base.inc" + }, + { + "from": 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"resource:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets_panel.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:46:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:2:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/external_offsets/halscope -i dynamic_offsets.halscope", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/halscope -i dynamic_offsets.halscope" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:46:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:17:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/external_offsets/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:46:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:46:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_directory", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:20:ini:RS274NGC:SUBROUTINE_PATH:linuxcnc/configs/sim/axis/external_offsets", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": 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"resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:5:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/external_offsets/eoffsets.hal", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:2:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/external_offsets/eoffsets_monitor.tcl", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets_monitor.tcl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:6:ini:HAL:POSTGUI_HALFILE:linuxcnc/configs/sim/axis/external_offsets/eoffsets_panel.hal", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets_panel.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:22:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/external_offsets/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:1:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/external_offsets/sim_pin --title \"MPG Simulator\" \\", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/sim_pin --title \"MPG Simulator\" \\" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:2:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/external_offsets/LIB:basic_sim.tcl", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/LIB:basic_sim.tcl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:3:ini:HAL:POSTGUI_HALFILE:linuxcnc/configs/sim/axis/external_offsets/jwp_z_panel.hal", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/jwp_z_panel.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:15:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/external_offsets/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_directory", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.ini:22:ini:RS274NGC:SUBROUTINE_PATH:linuxcnc/configs/sim/axis/external_offsets", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.ini:4:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/external_offsets/LIB:basic_sim.tcl", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/LIB:basic_sim.tcl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.ini:25:ini:EMCIO:TOOL_TABLE:linuxcnc/configs/sim/axis/external_offsets/eoffset.tbl", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/eoffset.tbl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.ini:5:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/external_offsets/opa.hal", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.ini:6:ini:HAL:POSTGUI_HALFILE:linuxcnc/configs/sim/axis/external_offsets/opa_panel.hal", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/opa_panel.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.ini:24:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/external_offsets/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/external_offsets/opa.ini:2:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/external_offsets/sim_pin ini.x.max_acceleration ini.x.max_velocity", + "to": "resource:linuxcnc/configs/sim/axis/external_offsets/sim_pin ini.x.max_acceleration ini.x.max_velocity" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/external_offsets/opa.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_directory", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:15:ini:DISPLAY:PROGRAM_PREFIX:linuxcnc/configs/sim/axis/extrajoints", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:10:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/extrajoints/LIB:basic_sim.tcl", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/LIB:basic_sim.tcl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:11:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/extrajoints/extrajoints.tcl", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/extrajoints.tcl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:3:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/extrajoints/halshow --fformat %.6f extrajoints.halshow", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/halshow --fformat %.6f extrajoints.halshow" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:18:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/extrajoints/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:4:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j4 extrajoint\" \\", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j4 extrajoint\" \\" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal:3:loadrt:_KINS_KINEMATICS", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal:3:loadrt:_KINS_KINEMATICS", + "kind": "template_owner", + "resolution_status": "explicit_reference", + "resource_source_id": null, + "to": "file:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal:3:loadrt:_KINS_KINEMATICS", + "kind": "template_resolves_to", + "resolution_status": "explicit_reference", + "to": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_directory", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:13:ini:DISPLAY:PROGRAM_PREFIX:linuxcnc/configs/sim/axis/extrajoints", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:9:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:3:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/extrajoints/halshow --fformat %.6f extrajoints.halshow", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/halshow --fformat %.6f extrajoints.halshow" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:16:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/extrajoints/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:4:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j4 extrajoint\" \\", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j4 extrajoint\" \\" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_directory", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:15:ini:DISPLAY:PROGRAM_PREFIX:linuxcnc/configs/sim/axis/extrajoints", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_file", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:11:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.hal", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:10:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/extrajoints/LIB:basic_sim.tcl", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/LIB:basic_sim.tcl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:3:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/extrajoints/halshow --fformat %.6f extrajoints.halshow", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/halshow --fformat %.6f extrajoints.halshow" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:18:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/extrajoints/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:4:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j4 extrajoint\" \\", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j4 extrajoint\" \\" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:5:ini:APPLICATIONS:APP:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j5 extrajoints\" \\", + "to": "resource:linuxcnc/configs/sim/axis/extrajoints/sim_pin --title \"j5 extrajoints\" \\" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/foam/axis_foam.ini:31:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/foam/LIB:basic_sim.tcl", + "to": "resource:linuxcnc/configs/sim/axis/foam/LIB:basic_sim.tcl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/foam/axis_foam.ini:24:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/foam/foam.var", + "to": "resource:linuxcnc/configs/sim/axis/foam/foam.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/foam/axis_foam.ini:13:ini:DISPLAY:INTRO_GRAPHIC:linuxcnc/configs/sim/axis/foam/linuxcnc.gif", + "to": "resource:linuxcnc/configs/sim/axis/foam/linuxcnc.gif" + }, + { + "from": "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/foam/axis_foam.ini:42:ini:EMCIO:TOOL_TABLE:linuxcnc/configs/sim/axis/foam/sim.tbl", + "to": "resource:linuxcnc/configs/sim/axis/foam/sim.tbl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_directory", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/foam/axis_foam.ini:11:ini:DISPLAY:PROGRAM_PREFIX:linuxcnc/nc_files", + "to": "resource:linuxcnc/nc_files" + }, + { + "from": "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins", + "kind": "declared_in", + "to": "file:linuxcnc/configs/sim/axis/foam/axis_foam.ini" + }, + { + "from": "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins", + "kind": "implements_family", + "to": "family:cartesian" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:31:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/gantry/gantrysim.hal", + "to": "resource:linuxcnc/configs/sim/axis/gantry/gantrysim.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:20:ini:filter_command:linuxcnc/configs/sim/axis/gantry/image-to-gcode.py", + "to": "resource:linuxcnc/configs/sim/axis/gantry/image-to-gcode.py" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:21:ini:filter_command:linuxcnc/configs/sim/axis/gantry/image-to-gcode.py", + "to": "resource:linuxcnc/configs/sim/axis/gantry/image-to-gcode.py" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:22:ini:filter_command:linuxcnc/configs/sim/axis/gantry/image-to-gcode.py", + "to": "resource:linuxcnc/configs/sim/axis/gantry/image-to-gcode.py" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:13:ini:DISPLAY:INTRO_GRAPHIC:linuxcnc/configs/sim/axis/gantry/linuxcnc.gif", + "to": "resource:linuxcnc/configs/sim/axis/gantry/linuxcnc.gif" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:42:ini:EMCIO:TOOL_TABLE:linuxcnc/configs/sim/axis/gantry/sim.tbl", + "to": "resource:linuxcnc/configs/sim/axis/gantry/sim.tbl" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:25:ini:RS274NGC:PARAMETER_FILE:linuxcnc/configs/sim/axis/gantry/sim.var", + "to": "resource:linuxcnc/configs/sim/axis/gantry/sim.var" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:32:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/gantry/sim_spindle_encoder.hal", + "to": "resource:linuxcnc/configs/sim/axis/gantry/sim_spindle_encoder.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:33:ini:HAL:HALFILE:linuxcnc/configs/sim/axis/gantry/simulated-gantry-home.hal", + "to": "resource:linuxcnc/configs/sim/axis/gantry/simulated-gantry-home.hal" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "missing", + "resource_source_id": "resource:linuxcnc/configs/sim/axis/gantry/gantry.ini:23:ini:filter_command:linuxcnc/configs/sim/axis/gantry/toolpaths.py", + "to": "resource:linuxcnc/configs/sim/axis/gantry/toolpaths.py" + }, + { + "from": "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins", + "kind": "configuration_resource", + "parse_status": "resolved_directory", + "resource_source_id": 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"kinematics-sample:user_static:nominal-roundtrip" + ], + "sha256": "df32ade49e3c3beb49e52d26200e37766dd04c5bee5dba4b1c87695439bf87bd" + }, + "schema": "kinematics-config-graph-report.v1" +} diff --git a/coverage/kinematics-golden-schema.json b/coverage/kinematics-golden-schema.json new file mode 100644 index 0000000..1e74ece --- /dev/null +++ b/coverage/kinematics-golden-schema.json @@ -0,0 +1,53 @@ +{ + "$id": "linuxcnc-web-wasm/kinematics-golden.v1", + "$schema": "https://json-schema.org/draft/2020-12/schema", + "additionalProperties": false, + "properties": { + "context_id": { + "type": "string" + }, + "input": { + "type": "object" + }, + "operation": { + "const": "fk_ik_fk_roundtrip" + }, + "result": { + "additionalProperties": true, + "required": [ + "status", + "error_code", + "kinematics_type", + "branch_id", + "flags", + "current_tick", + "config_hash", + "axis_joint_mapping" + ], + "type": "object" + }, + "sample_id": { + "type": "string" + }, + "schema": { + "const": "kinematics-golden.v1" + }, + "tolerances": { + "additionalProperties": { + "minimum": 0, + "type": "number" + }, + "type": "object" + } + }, + "required": [ + "schema", + "context_id", + "sample_id", + "operation", + "input", + "result" + ], + "title": "LinuxCNC Web/WASM kinematics FK/IK golden", + "type": "object" +} diff --git a/coverage/kinematics-mapping-contract.json b/coverage/kinematics-mapping-contract.json new file mode 100644 index 0000000..42fbced --- /dev/null +++ b/coverage/kinematics-mapping-contract.json @@ -0,0 +1,92 @@ +{ + "axis_order": { + "A": 3, + "B": 4, + "C": 5, + "U": 6, + "V": 7, + "W": 8, + "X": 0, + "Y": 1, + "Z": 2 + }, + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "contract_sha256": "f79ad4af7f460b0d544d835fa63fe331d7c39907d7394edba1c7a3cbef612874", + "error_cases": [ + "null_config", + "null_pose", + "nonfinite_joint", + "nonfinite_pose", + "joint_count_mismatch", + "enabled_limit_violation", + "invalid_coordinate", + "inverse_only_forward", + "forward_only_inverse" + ], + "inputs": { + "header": "/home/mes006/linuxcncWebWASM/wasm-core/include/sim_kinematics.h", + "header_sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8", + "source": "/home/mes006/linuxcncWebWASM/wasm-core/src/sim_kinematics.c", + "source_sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd" + }, + "sample_mappings": [ + { + "axis_joint": { + "X": 0, + "Y": 1, + "Z": 2 + }, + "coordinates": "XYZ" + }, + { + "axis_joint": { + "X": 0, + "Y": 1, + "Z": 3 + }, + "coordinates": "XYYZ", + "duplicate": { + "axis": "Y", + "copies": [ + 2 + ], + "owner": 1 + } + }, + { + "axis_joint": { + "X": 0, + "Y": 1, + "Z": 3 + }, + "case_fold": true, + "coordinates": "xyyz" + }, + { + "axis_joint": { + "A": 3, + "B": 4, + "C": 5, + "U": 6, + "V": 7, + "W": 8, + "X": 0, + "Y": 1, + "Z": 2 + }, + "coordinates": "XYZABCUVW" + } + ], + "schema": "kinematics-mapping-contract.v1", + "semantics": { + "coordinate_case": "ASCII case-fold to uppercase", + "duplicate_axis": "first occurrence owns axis; later duplicates copy the first joint during inverse", + "extra_joints": "coordinates may repeat and joint_count remains authoritative", + "forward": "joint-to-pose uses mapped first joint for each axis", + "home": "zeroes all configured joints, then computes forward pose", + "inverse": "pose-to-joint initializes all joints then fills duplicates deterministically", + "limits": "enabled inclusive min/max; violation returns SIM_KIN_ERR_RANGE", + "state_hash": "includes config bytes, configured joint prefix and pose bytes" + }, + "status": "verified" +} diff --git a/coverage/kinematics-numeric-policy.json b/coverage/kinematics-numeric-policy.json new file mode 100644 index 0000000..8a96037 --- /dev/null +++ b/coverage/kinematics-numeric-policy.json @@ -0,0 +1,74 @@ +{ + "angles": { + "constants": "full-precision DEG_TO_RAD/RAD_TO_DEG literals", + "input_units": "degrees for rotary joints", + "internal_units": "radians" + }, + "boundary_matrix": [ + { + "case": "NaN joint", + "expected": "SIM_KIN_ERR_NONFINITE" + }, + { + "case": "+Inf pose", + "expected": "SIM_KIN_ERR_NONFINITE" + }, + { + "case": "negative tolerance", + "expected": "SIM_KIN_ERR_CONFIGURATION" + }, + { + "case": "iteration > 100000", + "expected": "SIM_KIN_ERR_CONFIGURATION" + }, + { + "case": "XYZBC B=90 singular", + "expected": "SIM_KIN_ERR_SINGULAR" + }, + { + "case": "enabled limit violation", + "expected": "SIM_KIN_ERR_RANGE" + } + ], + "compiler": { + "denormals": "host-independent finite checks before arithmetic", + "fast_math": false, + "fenv_access": "default", + "fp_contract": "off" + }, + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "exact_fields": [ + "status", + "error_code", + "kinematics_type", + "branch_id", + "flags", + "current_tick", + "config_hash", + "axis_joint_mapping", + "event_order" + ], + "inputs": { + "abi_contract_sha256": "3177c4d28200c5136981d28489ac4578a84360f9688ee8614e23af8d7526b50b", + "mapping_contract_sha256": "49bd93c716bd5b5eb6064f75ea2b8ba26dfa819c6166c22c5375ebeba927dd91" + }, + "iterations": { + "default": 0, + "maximum": 100000, + "nonconvergence": "stable error; never repaired by tolerance widening", + "zero_means": "algorithm default" + }, + "policy_sha256": "dcf2fdb6bf488f81ec55f43ebc3180f52665b54ba9cd9b4c6bbfb8dbd2a39560", + "schema": "kinematics-numeric-policy.v1", + "status": "verified", + "tolerances": { + "configuration_nonnegative": true, + "golden_absolute_default": 1e-09, + "golden_relative_default": 1e-09, + "singularity_threshold": 1e-12, + "state_hash_float_quantization": 1e-09, + "tolerance_applies_only_to": [ + "finite numeric pose/joint fields" + ] + } +} diff --git a/coverage/kinematics-oracle-samples.jsonl b/coverage/kinematics-oracle-samples.jsonl new file mode 100644 index 0000000..c6f3413 --- /dev/null +++ b/coverage/kinematics-oracle-samples.jsonl @@ -0,0 +1,11 @@ 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"config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_C.ini:96:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_CW.ini:96:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini:96:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini:95:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_macros.ini:101:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/Gantry/gantry_mm.ini:55:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/plasma_config/gmoccapy_plasma.ini:109:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen.ini:166:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/9axis.ini:135:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/gaxis_no_plot.ini:133:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/gscreen_gaxis.ini:133:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/industrial.ini:135:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/tester.ini:124:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/tester_metric.ini:137:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_lathe.ini:65:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_mm.ini:138:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/industrial_lathe_wear/industrial_lathe_wear.ini:79:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/ngcgui/pyngcgui_gscreen.ini:114:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/ngcgui/pyngcgui_gscreen_popupkeyboard.ini:111:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/silverdragon/silverdragon.ini:128:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/spartan/spartan.ini:67:kinematics:trivkins", + "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/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/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/servo_sim.ini:49:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/tklinuxcnc.ini:79:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/trivkins/xz.ini:11:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/trivkins/xz_both.ini:10:kinematics:trivkins", + "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/abort/feed-rate/test.ini:59:kinematics:trivkins", + "config:linuxcnc/tests/abort/g64/test.ini:60:kinematics:trivkins", + "config:linuxcnc/tests/abort/on_abort_command-crazy-move/test.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/abort/stop-button-crazy-move/test.ini:65:kinematics:trivkins", + "config:linuxcnc/tests/ccomp/early-exit/test.ini:58:kinematics:trivkins", + "config:linuxcnc/tests/classicladder/estop/classicladder-estop.ini:38:kinematics:trivkins", + "config:linuxcnc/tests/halui/jogging/halui.ini:60:kinematics:trivkins", + "config:linuxcnc/tests/halui/mdi/halui.ini:49:kinematics:trivkins", + "config:linuxcnc/tests/hard-limits/hard-limits.ini:37:kinematics:trivkins", + "config:linuxcnc/tests/interp/m98m99/12-M99-endless-main-program/motion-logger.ini:44:kinematics:trivkins", + "config:linuxcnc/tests/interp/mdi-oword-m66/interp.ini:47:kinematics:trivkins", + "config:linuxcnc/tests/interp/oword-mdi-sub-update/interp.ini:41:kinematics:trivkins", + "config:linuxcnc/tests/interp/subroutine-return/interp.ini:41:kinematics:trivkins", + "config:linuxcnc/tests/io-startup/nonrandom/test.ini:44:kinematics:trivkins", + "config:linuxcnc/tests/io-startup/random/test.ini:43:kinematics:trivkins", + "config:linuxcnc/tests/lathe/lathe.ini:47:kinematics:trivkins", + "config:linuxcnc/tests/linuxcncrsh-tcp/linuxcncrsh-test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/linuxcncrsh/linuxcncrsh-test.ini:58:kinematics:trivkins", + "config:linuxcnc/tests/mdi-queue-length/test.ini:45:kinematics:trivkins", + "config:linuxcnc/tests/mdi-queue/linuxcncrsh-test.ini:60:kinematics:trivkins", + "config:linuxcnc/tests/mdi-while-queuebuster-waitflag/test.ini:46:kinematics:trivkins", + "config:linuxcnc/tests/motion-logger/basic/test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/motion-logger/mountaindew/mountaindew.ini:45:kinematics:trivkins", + "config:linuxcnc/tests/motion-logger/startup-gcode-abort/test.ini:57:kinematics:trivkins", + "config:linuxcnc/tests/motion/g0/motion-test.ini:65:kinematics:trivkins", + "config:linuxcnc/tests/motion/jogwheel-axis/motion-test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/motion/jogwheel-joint/motion-test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/mqtt/simulator.ini:52:kinematics:trivkins", + "config:linuxcnc/tests/remap/remap-io/test-ngc.ini:64:kinematics:trivkins", + "config:linuxcnc/tests/remap/remap-io/test-py.ini:64:kinematics:trivkins", + "config:linuxcnc/tests/remap/remap-reentry/test.ini:45:kinematics:trivkins", + "config:linuxcnc/tests/rs274ngc-startup/test.ini:57:kinematics:trivkins", + "config:linuxcnc/tests/single-step/test.ini:43:kinematics:trivkins", + "config:linuxcnc/tests/startup-state/test.ini:57:kinematics:trivkins", + "config:linuxcnc/tests/statbuffer-g5x-abort/test.ini:56:kinematics:trivkins", + "config:linuxcnc/tests/t0/nonrandom/sim.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/t0/random-with-t0/sim.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/t0/random-without-t0/sim.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/tlo/g43-test.ini:46:kinematics:trivkins", + "config:linuxcnc/tests/tool-info/non-random/test.ini:54:kinematics:trivkins", + "config:linuxcnc/tests/tool-info/random-no-startup-tool/test.ini:54:kinematics:trivkins", + "config:linuxcnc/tests/tool-info/random-with-startup-tool/test.ini:54:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/m61/m61-test.ini:39:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/m61/mod_core_sim.hal:5:loadrt:trivkins", + "config:linuxcnc/tests/toolchanger/reload-tool/non-random/test.ini:55:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/reload-tool/random/test.ini:55:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/toolno-pocket-differ/nonrandom/sim.ini:68:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/toolno-pocket-differ/random/sim.ini:68:kinematics:trivkins", + "config:linuxcnc/tests/trajectory-planner/circular-arcs/configs/core_sim_components.hal:5:loadrt:trivkins" + ], + "description": "axis/joint identity and mapped Cartesian kinematics", + "family": "cartesian", + "modules": [ + "maxkins", + "rotatekins", + "trivkins" + ], + "oracle": { + "candidate_configuration_ids": [ + "config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis.ini:144:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis_9axis.ini:67:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis_mm.ini:136:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/canterp.ini:47:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini:52:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/db_demo/base.inc:38:kinematics:trivkins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:cartesian:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/maxkins.c", + "source:linuxcnc/src/emc/kinematics/rotatekins.c", + "source:linuxcnc/src/emc/kinematics/trivkins.c" + ], + "test_source_ids": [] + }, + { + "configuration_ids": [ + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:loadrt:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:26:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:29:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:33:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:36:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:39:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:43:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:46:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:50:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:53:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:18:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:5:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini:10:kinematics:corexykins", + "config:linuxcnc/configs/sim/axis/laser/laser.ini:8:kinematics:corexykins", + "config:linuxcnc/configs/sim/axis/rose_engine/rose_engine.ini:15:kinematics:rosekins", + "config:linuxcnc/tests/matrixkins/test.ini:53:kinematics:matrixkins" + ], + "description": "coupled linear or HAL matrix transforms", + "family": "coupled_linear", + "modules": [ + "corexy_by_hal", + "corexykins", + "matrixkins", + "rosekins" + ], + "oracle": { + "candidate_configuration_ids": [ + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:loadrt:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:26:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:29:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:33:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:36:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:39:hal_transform:corexy_by_hal", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:43:hal_transform:corexy_by_hal" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:coupled_linear:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/corexykins.c", + "source:linuxcnc/src/emc/kinematics/rosekins.c" + ], + "test_source_ids": [] + }, + { + "configuration_ids": [ + "config:linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini:98:kinematics:5axiskins" + ], + "description": "generic five-axis kinematics", + "family": "five_axis", + "modules": [ + "5axiskins" + ], + "oracle": { + "candidate_configuration_ids": [ + "config:linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini:98:kinematics:5axiskins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:five_axis:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/5axiskins.c" + ], + "test_source_ids": 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"config:linuxcnc/configs/sim/axis/rdelta.ini:59:kinematics:rotarydeltakins", + "config:linuxcnc/configs/sim/tklinuxcnc/ldelta.ini:59:kinematics:lineardeltakins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:parallel_delta:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/lineardeltakins-common.h", + "source:linuxcnc/src/emc/kinematics/lineardeltakins.c", + "source:linuxcnc/src/emc/kinematics/lineardeltakins.cc", + "source:linuxcnc/src/emc/kinematics/rotarydeltakins-common.h", + "source:linuxcnc/src/emc/kinematics/rotarydeltakins.c", + "source:linuxcnc/src/emc/kinematics/rotarydeltakins.cc" + ], + "test_source_ids": [] + }, + { + "configuration_ids": [ + "config:linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini:76:kinematics:genhexkins" + ], + 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"config:linuxcnc/configs/sim/axis/pentapod/pentapod.ini:113:kinematics:pentakins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:parallel_pentapod:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/pentakins.c", + "source:linuxcnc/src/emc/kinematics/pentakins.h" + ], + "test_source_ids": [] + }, + { + "configuration_ids": [ + "config:linuxcnc/configs/sim/tklinuxcnc/tripod.ini:59:kinematics:tripodkins" + ], + "description": "tripod parallel mechanism", + "family": "parallel_tripod", + "modules": [ + "tripodkins" + ], + "oracle": { + "candidate_configuration_ids": [ + "config:linuxcnc/configs/sim/tklinuxcnc/tripod.ini:59:kinematics:tripodkins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:parallel_tripod:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/tripodkins.c" + ], + "test_source_ids": [] + }, + { + "configuration_ids": [ + "config:linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini:7:kinematics:genserkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma.ini:7:kinematics:pumakins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma560.ini:12:kinematics:genserkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini:12:kinematics:genserkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma_cube.ini:139:kinematics:pumakins", + "config:linuxcnc/configs/sim/axis/vismach/scara/scara.ini:56:kinematics:scarakins", + "config:linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini:10:kinematics:scorbot-kins", + "config:linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/scara/scara.ini:70:kinematics:scarakins", + "config:linuxcnc/configs/sim/qtaxis/non-trivial/scara/scara.ini:120:kinematics:scarakins", + "config:linuxcnc/configs/sim/qtvcp_screens/non-trivial/scara/scara.ini:121:kinematics:scarakins" + ], + "description": "serial robot, SCARA, PUMA and DH-chain kinematics", + "family": "serial_robot", + "modules": [ + "genserfuncs", + "genserkins", + "pumakins", + "scarakins", + "scorbot-kins" + ], + "oracle": { + "candidate_configuration_ids": [ + "config:linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini:7:kinematics:genserkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma.ini:7:kinematics:pumakins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma560.ini:12:kinematics:genserkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini:12:kinematics:genserkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma_cube.ini:139:kinematics:pumakins", + "config:linuxcnc/configs/sim/axis/vismach/scara/scara.ini:56:kinematics:scarakins", + "config:linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini:10:kinematics:scorbot-kins", + "config:linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/scara/scara.ini:70:kinematics:scarakins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:serial_robot:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/genserfuncs.c", + "source:linuxcnc/src/emc/kinematics/genserkins.c", + "source:linuxcnc/src/emc/kinematics/genserkins.h", + "source:linuxcnc/src/emc/kinematics/pumakins.c", + "source:linuxcnc/src/emc/kinematics/pumakins.h", + "source:linuxcnc/src/emc/kinematics/scarakins.c", + "source:linuxcnc/src/emc/kinematics/scorbot-kins.c" + ], + "test_source_ids": [] + }, + { + "configuration_ids": [ + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:3:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:11:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:28:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:49:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:7:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:11:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:28:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:49:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:7:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini:3:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/millturn/millturn.ini:10:kinematics:millturn", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma.ini:3:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma560.ini:6:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini:6:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/scara/scara.ini:3:switchkins:switchkins", + "config:linuxcnc/configs/sim/qtaxis/non-trivial/scara/scara.ini:3:switchkins:switchkins", + "config:linuxcnc/configs/sim/qtvcp_screens/non-trivial/scara/scara.ini:3:switchkins:switchkins" + ], + "description": "switchkins and switchable HAL component kinematics", + "family": "switchable", + "modules": [ + "millturn", + "switchkins" + ], + "oracle": { + "candidate_configuration_ids": [ + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:3:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:11:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:28:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:49:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:7:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:11:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:28:switchkins:switchkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:49:switchkins:switchkins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:switchable:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/switchkins.c", + "source:linuxcnc/src/emc/kinematics/switchkins.h" + ], + "test_source_ids": [] + }, + { + "configuration_ids": [], + "description": "static user/template kinematics and calibrated components", + "family": "user_static", + "modules": [ + "cubic", + "ugenserkins", + "userkfuncs" + ], + "oracle": { + "candidate_configuration_ids": [], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle", + "sample_plan_id": "kinematics-oracle:user_static:fk-ik-roundtrip", + "status": "blocked" + }, + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/cubic.c", + "source:linuxcnc/src/emc/kinematics/cubic.h", + "source:linuxcnc/src/emc/kinematics/ugenserkins.c", + "source:linuxcnc/src/emc/kinematics/userkfuncs.c" + ], + "test_source_ids": [] + } + ], + "hal": { + "entries": [ + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/3joint_xyz.hal:15:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 15, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/corexy/3joint_xyz.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "51410ad61511b2de688f879fceb8e888856519e546a3273b4d7691df27f678ab" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 25, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "loadrt corexy_by_hal names=corexy_by_hal", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:loadrt:corexy_by_hal", + "family": "coupled_linear", + "kind": "loadrt", + "line": 25, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "loadrt corexy_by_hal names=corexy_by_hal", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:26:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 26, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "addf corexy_by_hal servo-thread", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:29:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 29, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :j0motor-cmd => corexy_by_hal.j0-motor-pos-cmd", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:33:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 33, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :j1motor-cmd => corexy_by_hal.j1-motor-pos-cmd", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:36:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 36, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :j0motor-fb <= corexy_by_hal.j0-motor-pos-fb", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:39:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 39, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :j1motor-fb <= corexy_by_hal.j1-motor-pos-fb", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:43:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 43, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :alpha-cmd <= corexy_by_hal.alpha-cmd", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:46:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 46, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :beta-cmd => corexy_by_hal.beta-cmd", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:50:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 50, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :alpha-fb => corexy_by_hal.alpha-fb", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:53:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 53, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "raw": "net :beta-fb => corexy_by_hal.beta-fb", + "source_sha": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:18:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 18, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "raw": "HALFILE = corexy_by_hal.hal", + "source_sha": "e838da30ce5fba2d049487d48bd2aeff46b1390a5a448f31980d9ce06121740f" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:5:hal_transform:corexy_by_hal", + "family": "coupled_linear", + "kind": "hal_transform", + "line": 5, + "module": "corexy_by_hal", + "path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "raw": "MACHINE = corexy_by_hal", + "source_sha": "e838da30ce5fba2d049487d48bd2aeff46b1390a5a448f31980d9ce06121740f" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal:3:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 3, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/extrajoints/1extrajoint.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "f3178060e01a28e7708fbae97eff3fd0481c7ee0ad8065e0ea05d5e77ecc18ef" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/gantry/gantry_mm.hal:3:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 3, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/gantry/gantry_mm.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "5da3e7f6e95f26df831f046a5c7c9ed3e073579748812140a15085dd558b42b0" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/lathe_multispindle/core_sim.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/lathe_multispindle/core_sim.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "32e9e69f445aa430e11d2622c89e27991becd3c8dd7f4ef043b5b6e28fbbce98" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/orphans/core_sim_noio.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/orphans/core_sim_noio.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "81b8e576e4dcf0f630d67dcbbc4e242a1d746ae89b028d488e6484471f8eb973" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/orphans/core_sim_noiocontrol.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/orphans/core_sim_noiocontrol.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "24f58669c4127fd453e8608b3c20726c71dabccdbe0f1d92bd7ed836efc605eb" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/orphans/core_sim_test.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/orphans/core_sim_test.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "b0ace08ef7d3cc047f87a30054835d09718420d00d566f88bf3beb1aa7fba866" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/orphans/iocontrol-removed/core_sim_test.hal:5:loadrt:trivkins", + "family": "cartesian", + "kind": "loadrt", + "line": 5, + "module": "trivkins", + "path": "linuxcnc/configs/sim/axis/orphans/iocontrol-removed/core_sim_test.hal", + "raw": "loadrt trivkins", + "source_sha": "b10a640ea2d1ddfd5c16c741a57d6592dc2752dea4450ec8adaaab0811686062" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/panelui-demo/panelui-demo.hal:1:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 1, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/panelui-demo/panelui-demo.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "6c7c482dfd0369e8568b65f2a1f5c7e008c343472494a1754a900d63a03db694" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/rotate/rotatekins.hal:3:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 3, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/rotate/rotatekins.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "e3c9ec02685f64fdb72bb9e561b3709b450f0da29eac9cca0f17541f843b0954" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "6c01e40c2244d3b534c0d3c60f26a9cdc5232defc79611234c78477209cfda1f" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini:45:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 45, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "789ba656f8ee3e97feba07b58eb242305898e745795891b1a7e536289bffe6bf" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "21897c3af97b3fbd4722d35b3f6380ad27a7d506b5c135644c929cf6d058832a" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "71c275afc0cc325cd72201118b86b323f89abf678a7e9e725328d6ea8183c664" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:3:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 3, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "MACHINE = sim-xyzab-tdr-kins (switchkins)", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:40:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 40, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:65:hal_transform:xyzab_tdr_kins", + "family": "five_axis_trt", + "kind": "hal_transform", + "line": 65, + "module": "xyzab_tdr_kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "HALCMD = net :tool-offset xyzab_tdr_kins.tool-offset-z", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:66:hal_transform:xyzab_tdr_kins", + "family": "five_axis_trt", + "kind": "hal_transform", + "line": 66, + "module": "xyzab_tdr_kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "HALCMD = net :x-offset xyzab_tdr_kins.x-offset", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:67:hal_transform:xyzab_tdr_kins", + "family": "five_axis_trt", + "kind": "hal_transform", + "line": 67, + "module": "xyzab_tdr_kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "HALCMD = net :z-offset xyzab_tdr_kins.z-offset", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:68:hal_transform:xyzab_tdr_kins", + "family": "five_axis_trt", + "kind": "hal_transform", + "line": 68, + "module": "xyzab_tdr_kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "HALCMD = net :x-rot-point xyzab_tdr_kins.x-rot-point", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:69:hal_transform:xyzab_tdr_kins", + "family": "five_axis_trt", + "kind": "hal_transform", + "line": 69, + "module": "xyzab_tdr_kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "HALCMD = net :y-rot-point xyzab_tdr_kins.y-rot-point", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:70:hal_transform:xyzab_tdr_kins", + "family": "five_axis_trt", + "kind": "hal_transform", + "line": 70, + "module": "xyzab_tdr_kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini", + "raw": "HALCMD = net :z-rot-point xyzab_tdr_kins.z-rot-point", + "source_sha": "923d0a9e75ff595e05a5fe13194cbd7eee7465419b995fe852503435a8d35907" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-headless_cmds.hal:35:loadrt:xyzac-trt-kins", + "family": "five_axis_trt", + "kind": "loadrt", + "line": 35, + "module": "xyzac-trt-kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt-headless_cmds.hal", + "raw": "loadrt xyzac-trt-kins sparm=identityfirst", + "source_sha": "6f8c1a8ce30b00c2256a3e8b9f8ef20a1441663e944a95c188cc9f05bc4c903c" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:11:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 11, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "raw": "OPEN_FILE = ./demos/xyzac_switchkins.ngc", + "source_sha": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:28:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 28, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "raw": "NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc", + "source_sha": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:49:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 49, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "raw": "POSTGUI_HALFILE = switchkins_postgui.hal", + "source_sha": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:52:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 52, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini:7:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 7, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "raw": "MACHINE = sim-xyzac-trt-kins (switchkins)", + "source_sha": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal:35:loadrt:xyzac-trt-kins", + "family": "five_axis_trt", + "kind": "loadrt", + "line": 35, + "module": "xyzac-trt-kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt_cmds.hal", + "raw": "loadrt xyzac-trt-kins sparm=identityfirst", + "source_sha": "2d5daf919d6a6b23d8f2c3e158596dcf77217b304471d6b92324611f31e00461" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:11:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 11, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "raw": "OPEN_FILE = ./demos/xyzbc_switchkins.ngc", + "source_sha": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:28:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 28, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "raw": "NGCGUI_SUBFILE = xyzbc_switchkins_sub.ngc", + "source_sha": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:49:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 49, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "raw": "POSTGUI_HALFILE = switchkins_postgui.hal", + "source_sha": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:52:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 52, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini:7:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 7, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "raw": "MACHINE = sim-xyzbc-trt-kins (switchkins)", + "source_sha": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/VMC_toolchange/vmc.hal:4:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 4, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/vismach/VMC_toolchange/vmc.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "c64398ad3e3ae763d3429dd68648d5f6e1635eb4cf49bd648dbc1f1ff01e139a" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/hbm/hbm.hal:5:loadrt:_KINS_KINEMATICS", + "family": "template_entry", + "kind": "loadrt", + "line": 5, + "module": "[KINS]KINEMATICS", + "path": "linuxcnc/configs/sim/axis/vismach/hbm/hbm.hal", + "raw": "loadrt [KINS]KINEMATICS", + "source_sha": "b864ec16452495dfdaa62b780268a608e59e885dcfc1ee4a372dfbced0c9586b" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini:3:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 3, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini", + "raw": "MACHINE = hexapod (switchkins)", + "source_sha": "362654b77bcaf5c87c3aa14c12684f516cbd635b6d582a68b05fcbd8299822ea" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini:43:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 43, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "362654b77bcaf5c87c3aa14c12684f516cbd635b6d582a68b05fcbd8299822ea" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini:15:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 15, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "7dc7a3db58ca7f7ddba11fe08f691cd7658564be2a0b872d9087ee7b392e45c7" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/millturn/millturn.ini:17:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 17, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/millturn/millturn.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": 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"config:linuxcnc/configs/sim/axis/vismach/puma/puma560.ini:19:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 19, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/puma/puma560.ini:6:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 6, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "raw": "MACHINE = puma560 (switchkins) (inch)", + "source_sha": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini:19:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 19, + "module": "motion.switchkins-type", + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini", + "raw": "HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type", + "source_sha": "50bf5dbc4cf70b0c18afea3dcbc577fbb6166152300cd16e27819de1fafe41b0" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini:6:switchkins:switchkins", + "family": "switchable", + "kind": "switchkins", + "line": 6, + "module": "switchkins", + "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560_uvw.ini", + "raw": "MACHINE = puma560 (switchkins) (inch)", + "source_sha": "50bf5dbc4cf70b0c18afea3dcbc577fbb6166152300cd16e27819de1fafe41b0" + }, + { + "config_id": "config:linuxcnc/configs/sim/axis/vismach/puma/puma_cube.ini:106:switchkins:motion.switchkins-type", + "family": "switch_control", + "kind": "switchkins", + "line": 106, + "module": "motion.switchkins-type", + "path": 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"config:linuxcnc/configs/sim/axis/remap/extend-builtins/extend-builtins.ini:105:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/remap/getting-started/demo.ini:156:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/remap/manual-toolchange-with-tool-length-switch/manualtoolchange.ini:92:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/remap/rack-toolchange/racktoolchange.ini:92:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/remap/stop-lookahead/demo.ini:73:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/simtcl/twopass_base.inc:51:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/spindle_orient/orient.ini:72:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/twopass/twopass.ini:74:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini:159:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini:4:kinematics:maxkins", + "config:linuxcnc/configs/sim/axis/vismach/5axis/max5/max5triv.ini:4:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/vismach/VMC_toolchange/vmc_graycode.ini:54:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/vismach/VMC_toolchange/vmc_index.ini:54:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/vismach/hbm/hbm.ini:49:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/vismach/rolfmill/rolfmill.hal:5:loadrt:trivkins", + "config:linuxcnc/configs/sim/axis/wrapped_rotary/wrapped_rotary.ini:45:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/xhc-hb04/inch_trivkins.inc:13:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/xhc-hb04/mm_trivkins.inc:13:kinematics:trivkins", + "config:linuxcnc/configs/sim/craftsman/craftsmancnc.ini:82:kinematics:trivkins", + "config:linuxcnc/configs/sim/craftsman/sim_core.hal:5:loadrt:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/6_axis.ini:72:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/7_axis.ini:72:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/7_axis_tool.ini:72:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/8_axis.ini:71:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/9_axis.ini:72:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/core_sim_6.hal:5:loadrt:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/core_sim_7.hal:5:loadrt:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/core_sim_8.hal:5:loadrt:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/core_sim_9.hal:5:loadrt:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy.ini:101:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_4_axis.ini:89:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAB.ini:121:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZAC.ini:111:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_XYZCW.ini:107:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_left_panel.ini:98:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_messages.ini:131:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_pedant.ini:99:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_plasma/gmoccapy_plasma.ini:113:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_pyngcgui.ini:134:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_right_panel.ini:94:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_sim_hardware_button.ini:102:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_tool_sensor.ini:128:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/gmoccapy_with_user_tabs.ini:119:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe.ini:95:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_C.ini:96:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_CW.ini:96:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_backtool.ini:96:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_imperial.ini:95:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/lathe_configs/lathe_macros.ini:101:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/non_trivial_kinematics/Gantry/gantry_mm.ini:55:kinematics:trivkins", + "config:linuxcnc/configs/sim/gmoccapy/plasma_config/gmoccapy_plasma.ini:109:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen.ini:166:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/9axis.ini:135:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/gaxis_no_plot.ini:133:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/gscreen_gaxis.ini:133:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/industrial.ini:135:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/tester.ini:124:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_custom/tester_metric.ini:137:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_lathe.ini:65:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/gscreen_mm.ini:138:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/industrial_lathe_wear/industrial_lathe_wear.ini:79:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/ngcgui/pyngcgui_gscreen.ini:114:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/ngcgui/pyngcgui_gscreen_popupkeyboard.ini:111:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/silverdragon/silverdragon.ini:128:kinematics:trivkins", + "config:linuxcnc/configs/sim/gscreen/spartan/spartan.ini:67:kinematics:trivkins", + "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/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/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/servo_sim.ini:49:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/tklinuxcnc.ini:79:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/trivkins/xz.ini:11:kinematics:trivkins", + "config:linuxcnc/configs/sim/tklinuxcnc/trivkins/xz_both.ini:10:kinematics:trivkins", + "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/abort/feed-rate/test.ini:59:kinematics:trivkins", + "config:linuxcnc/tests/abort/g64/test.ini:60:kinematics:trivkins", + "config:linuxcnc/tests/abort/on_abort_command-crazy-move/test.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/abort/stop-button-crazy-move/test.ini:65:kinematics:trivkins", + "config:linuxcnc/tests/ccomp/early-exit/test.ini:58:kinematics:trivkins", + "config:linuxcnc/tests/classicladder/estop/classicladder-estop.ini:38:kinematics:trivkins", + "config:linuxcnc/tests/halui/jogging/halui.ini:60:kinematics:trivkins", + "config:linuxcnc/tests/halui/mdi/halui.ini:49:kinematics:trivkins", + "config:linuxcnc/tests/hard-limits/hard-limits.ini:37:kinematics:trivkins", + "config:linuxcnc/tests/interp/m98m99/12-M99-endless-main-program/motion-logger.ini:44:kinematics:trivkins", + "config:linuxcnc/tests/interp/mdi-oword-m66/interp.ini:47:kinematics:trivkins", + "config:linuxcnc/tests/interp/oword-mdi-sub-update/interp.ini:41:kinematics:trivkins", + "config:linuxcnc/tests/interp/subroutine-return/interp.ini:41:kinematics:trivkins", + "config:linuxcnc/tests/io-startup/nonrandom/test.ini:44:kinematics:trivkins", + "config:linuxcnc/tests/io-startup/random/test.ini:43:kinematics:trivkins", + "config:linuxcnc/tests/lathe/lathe.ini:47:kinematics:trivkins", + "config:linuxcnc/tests/linuxcncrsh-tcp/linuxcncrsh-test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/linuxcncrsh/linuxcncrsh-test.ini:58:kinematics:trivkins", + "config:linuxcnc/tests/mdi-queue-length/test.ini:45:kinematics:trivkins", + "config:linuxcnc/tests/mdi-queue/linuxcncrsh-test.ini:60:kinematics:trivkins", + "config:linuxcnc/tests/mdi-while-queuebuster-waitflag/test.ini:46:kinematics:trivkins", + "config:linuxcnc/tests/motion-logger/basic/test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/motion-logger/mountaindew/mountaindew.ini:45:kinematics:trivkins", + "config:linuxcnc/tests/motion-logger/startup-gcode-abort/test.ini:57:kinematics:trivkins", + "config:linuxcnc/tests/motion/g0/motion-test.ini:65:kinematics:trivkins", + "config:linuxcnc/tests/motion/jogwheel-axis/motion-test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/motion/jogwheel-joint/motion-test.ini:42:kinematics:trivkins", + "config:linuxcnc/tests/mqtt/simulator.ini:52:kinematics:trivkins", + "config:linuxcnc/tests/remap/remap-io/test-ngc.ini:64:kinematics:trivkins", + "config:linuxcnc/tests/remap/remap-io/test-py.ini:64:kinematics:trivkins", + "config:linuxcnc/tests/remap/remap-reentry/test.ini:45:kinematics:trivkins", + "config:linuxcnc/tests/rs274ngc-startup/test.ini:57:kinematics:trivkins", + "config:linuxcnc/tests/single-step/test.ini:43:kinematics:trivkins", + "config:linuxcnc/tests/startup-state/test.ini:57:kinematics:trivkins", + "config:linuxcnc/tests/statbuffer-g5x-abort/test.ini:56:kinematics:trivkins", + "config:linuxcnc/tests/t0/nonrandom/sim.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/t0/random-with-t0/sim.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/t0/random-without-t0/sim.ini:67:kinematics:trivkins", + "config:linuxcnc/tests/tlo/g43-test.ini:46:kinematics:trivkins", + "config:linuxcnc/tests/tool-info/non-random/test.ini:54:kinematics:trivkins", + "config:linuxcnc/tests/tool-info/random-no-startup-tool/test.ini:54:kinematics:trivkins", + "config:linuxcnc/tests/tool-info/random-with-startup-tool/test.ini:54:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/m61/m61-test.ini:39:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/m61/mod_core_sim.hal:5:loadrt:trivkins", + "config:linuxcnc/tests/toolchanger/reload-tool/non-random/test.ini:55:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/reload-tool/random/test.ini:55:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/toolno-pocket-differ/nonrandom/sim.ini:68:kinematics:trivkins", + "config:linuxcnc/tests/toolchanger/toolno-pocket-differ/random/sim.ini:68:kinematics:trivkins", + "config:linuxcnc/tests/trajectory-planner/circular-arcs/configs/core_sim_components.hal:5:loadrt:trivkins" + ], + "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", + "coordinates": { + "XYZ": "verified", + "XYZABCUVW": "verified", + "case_fold": "verified", + "duplicate_axes": "verified", + "extra_joint_count": "verified" + }, + "extra_joints": { + "home_zeroes_kinematics_prefix": "verified", + "ignored_suffix": "verified", + "joint_count_mismatch": "verified", + "prefix_only": "verified" + }, + "mapping_contract": "coverage/kinematics-mapping-contract.json", + "modes": { + "both": "verified", + "forward_only": "verified", + "identity": "verified", + "inverse_only": "verified" + }, + "numeric_policy": "coverage/kinematics-numeric-policy.json", + "oracle": { + "configuration_candidates": [ + "config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis.ini:144:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis_9axis.ini:67:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/axis_mm.ini:136:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/canterp.ini:47:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/classicladder/demo_sim_cl.ini:52:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini:10:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/db_demo/base.inc:38:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/external_offsets/dynamic_offsets.ini:46:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/external_offsets/eoffsets.ini:67:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/external_offsets/jwp_z.ini:52:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/external_offsets/opa.ini:56:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/extrajoints/12extrajoints.ini:19:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/extrajoints/1extrajoint.ini:22:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/extrajoints/2extrajoints.ini:25:kinematics:trivkins", + "config:linuxcnc/configs/sim/axis/foam/axis_foam.ini:64:kinematics:trivkins" + ], + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "report_sha256": "fec9dd7b8adc27ab05c2663320854b027d22cd5dcc7aab31c9597470b9724560", + "schema": "trivkins-integration-report.v1", + "source_ids": [ + "source:linuxcnc/src/emc/kinematics/maxkins.c", + "source:linuxcnc/src/emc/kinematics/rotatekins.c", + "source:linuxcnc/src/emc/kinematics/trivkins.c" + ], + "status": "partial", + "tests": { + "ctest": "sim_kinematics_test", + "native": "build-native/sim_kinematics_test", + "status": "passed" + } +} diff --git a/coverage/trt-kinematics.report.json b/coverage/trt-kinematics.report.json new file mode 100644 index 0000000..edf1677 --- /dev/null +++ b/coverage/trt-kinematics.report.json @@ -0,0 +1,153 @@ +{ + "boundaries": { + "missing_required_axis": "SIM_KIN_ERR_CONFIGURATION verified by existing contract tests", + "state_hash": "native/WASM identical", + "xyzac_round_trip": "verified", + "xyzbc_b_90_singular": "SIM_KIN_ERR_SINGULAR verified", + "xyzbc_round_trip": "verified" + }, + "configuration_candidates": { + "xyzac": { + "joints": 5, + "kinematics": "xyzac-trt-kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "scan": true, + "sparm": "identityfirst" + }, + "xyzbc": { + "joints": 5, + "kinematics": "xyzbc-trt-kins", + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "scan": true, + "sparm": "identityfirst" + } + }, + "implementation_status": "verified", + "native_wasm": { + "native_command": "build-native/sim_kinematics_test", + "status": "passed", + "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js" + }, + "offsets": { + "xyzac": { + "tool_offset": 100.0, + "x_rot_point": 20.0, + "y_offset": 3.0 + }, + "xyzbc": { + "tool_offset": 50.0, + "x_offset": 5.0, + "z_offset": 2.0 + } + }, + "oracle": { + "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "status": "blocked" + }, + "report_sha256": "504f1e29c8c7e3d0d96c4113106401d0c44c1b82044461e43d1b2f5cf48fdfcc", + "rotation_chain": { + "direction": "LinuxCNC opposite conventional rotary directions retained", + "identityfirst": "switchkins type 0 identity, type 1 TRT, type 2 userk", + "xyzac": "C about Z then A about X with y/z/tool offsets", + "xyzbc": "C about Z then B about Y with x/z/tool offsets" + }, + "samples": { + "byte_identical_json": true, + "native": { + "xyzac_trt": { + "inverse": [ + 100.0, + 50.0, + 200.0, + 30.0, + 45.0 + ], + "pose": [ + 142.826706376, + 9.689621386, + 163.102540378 + ], + "state_hash": 4869492769119734977 + }, + "xyzbc_trt": { + "inverse": [ + 100.0, + 50.0, + 200.0, + 30.0, + 45.0 + ], + "pose": [ + 44.740352549, + 25.97032557, + 227.67175976 + ], + "state_hash": 1734235358276017152 + } + }, + "wasm": { + "xyzac_trt": { + "inverse": [ + 100.0, + 50.0, + 200.0, + 30.0, + 45.0 + ], + "pose": [ + 142.826706376, + 9.689621386, + 163.102540378 + ], + "state_hash": 4869492769119734977 + }, + "xyzbc_trt": { + "inverse": [ + 100.0, + 50.0, + 200.0, + 30.0, + 45.0 + ], + "pose": [ + 44.740352549, + 25.97032557, + 227.67175976 + ], + "state_hash": 1734235358276017152 + } + } + }, + "schema": "trt-kinematics-report.v1", + "source_records": { + "implementation": { + "path": "wasm-core/src/sim_kinematics.c", + "sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd" + }, + "test": { + "path": "wasm-core/tests/sim_kinematics_test.c", + "sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6" + }, + "trt_source": { + "path": "linuxcnc/src/emc/kinematics/trtfuncs.c", + "sha256": "ced2f9d4732681e2e82153b2f6343eccdf6972222d558d1e277bf1ec0bdc87fd" + }, + "xyzac_config": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "9ee1d96962e7a44b25468f452543cfc3ca318585269e26227bb5b6e17b1e42f1" + }, + "xyzac_source": { + "path": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c", + "sha256": "24c633613db9876c2ec246e1519a63d288fd27c68296d89f89f0368105634e69" + }, + "xyzbc_config": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "sha256": "78ce55d1e96e6f6a68f7352d530f9f84f3a68188cbe3b45e908a085295180c78" + }, + "xyzbc_source": { + "path": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c", + "sha256": "d79c06db82930ef685809a87c7207398f7893f56a6a0dfe382df2c81eaeb9562" + } + }, + "status": "partial" +} diff --git a/docs/linuxcnc-web-wasm-context-governance.md b/docs/linuxcnc-web-wasm-context-governance.md index 6bf44a2..4dd72f4 100644 --- a/docs/linuxcnc-web-wasm-context-governance.md +++ b/docs/linuxcnc-web-wasm-context-governance.md @@ -5,17 +5,23 @@ **生成器**：[`scripts/context_packet.py`](../scripts/context_packet.py) **测试**：[`scripts/test_context_packet.py`](../scripts/test_context_packet.py) -本文件只解决两个问题：任务如何拆到可以持续接续的大小，以及一次任务交接究竟允许携带什么上下文。架构、功能范围、源文件关联和发布门禁分别以[技术路线](linuxcnc-web-wasm-technical-roadmap.md)、[源程序关联目录](linuxcnc-web-wasm-source-map.md)、[覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md)和[执行与交付策略](linuxcnc-web-wasm-execution-strategy.md)为准。本文件不复制这些文档的内容。 +本文件只解决两个问题：任务如何拆到可以持续接续的大小，以及一次任务交接究竟允许携带什么上下文。架构、功能范围、源文件关联和发布门禁分别以[技术路线](linuxcnc-web-wasm-technical-roadmap.md)、[完整仿真机床实施蓝图](linuxcnc-web-wasm-full-port-implementation.md)、[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md)、[源程序关联目录](linuxcnc-web-wasm-source-map.md)、[覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md)和[执行与交付策略](linuxcnc-web-wasm-execution-strategy.md)为准。本文件不复制这些文档的内容。 ## 1. 不变量 1. 一个任务只有一个主工作流、一个里程碑、一个可验证结果和一个回滚点。跨三个以上工作流必须拆分。 -2. 一个上下文包只有固定八段：`header`、`baseline`、`scope`、`contracts`、`evidence`、`risks`、`next`、`forbidden`。禁止追加 `history`、聊天记录或完整日志段。 +2. 一个上下文包只有固定八段：`header`、`baseline`、`scope`、`contracts`、`evidence`、`risks`、`next`、`forbidden`。禁止追加 `history`、聊天记录或完整日志段。`nextTask.md` 只是 8 KiB 以内的启动指针，历史和证据摘要必须移到按需读取的索引。 3. 默认 profile 为 `feature`（4,096 tokens/16 KiB）；里程碑任务才使用 `milestone`（8,192 tokens/32 KiB）。`doc` 和 `contract` 只在确有需要时使用。 4. `total_bytes` 同时限制序列化包和选中证据负载：`context_bytes = packet_bytes + selected_evidence_bytes`。`evidence_bytes` 是独立的证据总量上限，不能用文件数量替代。 5. 证据在生成阶段筛选。可选证据被排除时必须记录稳定 `reason_code`；必需证据无法容纳时生成失败，不输出部分成功包。 6. 交接只携带最新包、context lock 摘要、受影响 manifest ID 和可重跑命令。完整日志、golden 和差异报告只通过路径、大小和哈希引用。 +7. 模型请求必须为输出预留独立预算。`context` 输入预算、请求外固定开销（system/developer、工具 schema 和必要的当前状态摘要）、`max_output_tokens` 和模型上下文窗口分别记录；不能把完整日志追加到输入后再把输出预算设为最大值。连续执行从最新包重建请求，旧对话只保留路径/哈希，不能累加。请求失败时先缩减输入证据或拆分任务，不自动重试同一超大请求。 + +8. 流式响应必须经过 [`scripts/model_stream.py`](../scripts/model_stream.py) 的有界 SSE 消费器。只有收到 `response.completed` 且 provider `usage` 通过校验时结果才可复用；断流、残缺 UTF-8、`response.failed`、`context_length_exceeded`、usage 缺失/不一致或 `max_output_tokens` 截断都必须写入 metadata-only checkpoint。checkpoint 只能保存 `context_id`、`packet_id`、事件/字节计数、输出哈希和恢复建议，不得保存半截模型文本；恢复必须生成新的、更小的 packet。 + +9. `context_packet.py` 的 `token_limit`、`total_bytes`、`evidence_bytes` 和 `max_files` 覆盖值只能小于或等于 profile 默认值；扩大值必须改用新的、经过审查的 profile。没有 provider tokenizer 时，生成器和校验器按 UTF-8 字节作硬上界；调用方拿到精确令牌数后可通过 `--input-tokens` 替换保守估算，但不得放宽 profile 上限。 + ### 1.1 包的分层读取 任务执行者按以下顺序读取，读到足够完成任务即停止： @@ -137,6 +143,29 @@ next: INV-06b | COM-05a | 能力/限制注册表 | 全量 manifest | INV-02b、CORE-07b | contract | | COM-05b | 未支持能力解释 | 能力注册表 | COM-05a | doc | +#### 3.3.1 K0-K8：运动学主线 + +运动学任务按实现族和验收闭环拆分，完整契约、来源文件和测试矩阵见[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md)。下列 ID 是最小任务目录的入口，不得把 CORE-07 作为一个不可拆分的大任务： + +| ID | 单一结果 | 依赖 | Profile | +|---|---|---|---| +| K0-INV-01 | 运动学源文件、符号、缺失测试输入审计 | INV-01..02 | milestone | +| K0-INV-02 | `configs/sim` 运动学入口图和参数样本 | K0-INV-01 | feature | +| K0-ORACLE-01 | native FK/IK JSONL golden schema 和样本 | K0-INV-01 | contract | +| K1-CONTRACT-01 | pose/joint、flags、home、错误码 C ABI | K0-ORACLE-01、CORE-02 | contract | +| K1-CONTRACT-02 | 坐标映射、extra joints、数值/迭代政策 | K1-CONTRACT-01 | feature | +| K2-TRIV-01 | trivkins 四种类型、重复轴和 home | K1-CONTRACT-02 | feature | +| K2-COUPLED-01 | corexy/rose/max/rotate 及 HAL 等价链 | K2-TRIV-01、RT-02a | feature | +| K3-5AXIS-01 | 5axiskins、xyzac/xyzbc TRT | K2-COUPLED-01 | feature | +| K3-ROBOT-01 | GenSer、SCARA、PUMA、Scorbot | K1-CONTRACT-02 | feature | +| K4-PARALLEL-01 | Delta、RotaryDelta、Tripod | K1-CONTRACT-02 | feature | +| K4-PARALLEL-02 | Hexapod、Pentapod 迭代正解和分支 | K4-PARALLEL-01 | feature | +| K5-SWITCH-01 | switchkins 静态切换和 lastpose | K3、K4 | contract | +| K5-USER-01 | userk/ugenser 构建期静态能力 | K5-SWITCH-01 | feature | +| K6-MOTION-01 | TP→IK→motion→FK feedback | K2..K5、CORE-04/06 | milestone | +| K7-REG-01 | 全配置、UI 姿态和浏览器故障回归 | K6、FE/COM | milestone | +| K8-REL-01 | 运动学兼容、来源和发布闭合 | K7、REL-01 | milestone | + ### 3.4 M4-M5：前端、回归和发布 | ID | 单一结果 | 直接输入 | 依赖 | Profile | @@ -176,7 +205,7 @@ next: INV-06b ### 4.1 正常交接 1. 从 context lock 和父任务摘要生成新的 `packet_id`；只填本子任务的八段。 -2. 用候选证据的实际字节数调用生成器。生成前就排除 `E1`-`E5`，输出后只接受 `budget.packet_bytes <= byte_limit` 且 `packet_bytes + selected_evidence_bytes <= byte_limit`。 +2. 用候选证据的实际字节数调用生成器。生成前就排除 `E1`-`E6`，输出后只接受 `budget.packet_bytes <= byte_limit`、`packet_bytes + selected_evidence_bytes <= byte_limit` 且估算输入令牌不超过 profile 上限。 3. 完成一步就更新 `evidence`、`risks`、`next`；不追加旧包全文。 4. 提交正文只写 `Context-ID`、`Context-Packet`、子任务 ID、测试命令和证据路径。 @@ -201,7 +230,7 @@ budget.packet_bytes <= byte_limit budget.packet_bytes + budget.selected_evidence_bytes <= byte_limit selected_evidence_bytes <= evidence_byte_limit selected_evidence_files <= evidence_file_limit -所有排除项都有 E1-E5 reason_code +所有排除项都有 E1-E6 reason_code required 证据无法容纳时命令失败且不写输出 ``` @@ -209,6 +238,10 @@ required 证据无法容纳时命令失败且不写输出 ```bash python3 -m unittest discover -s scripts -p 'test_*.py' -v +python3 scripts/validate_task_pointer.py +python3 scripts/validate_model_budget.py --context-window --overhead-tokens ``` +流式请求还必须通过 `scripts/test_model_stream.py`：覆盖跨 chunk UTF-8、无终态断流、provider failure/context overflow、usage 校验、输出截断和 checkpoint 不包含部分文本。网络传输异常只能记录为 `stream_disconnected`，不能重试原 packet。 + 本规范的目标不是把所有信息压进一个更大的包，而是让每个任务只携带完成当前结果所需的最小、可重建、可审计上下文。 diff --git a/docs/linuxcnc-web-wasm-execution-strategy.md b/docs/linuxcnc-web-wasm-execution-strategy.md index 7a5eb0e..7f19a86 100644 --- a/docs/linuxcnc-web-wasm-execution-strategy.md +++ b/docs/linuxcnc-web-wasm-execution-strategy.md @@ -3,7 +3,7 @@ **文档状态**：Draft v0.1 **适用范围**：本仓库的纯 Web/WASM 仿真移植、浏览器运行时、OPFS 工程存储、覆盖矩阵和发布物 **固定基线**：LinuxCNC `2.10.0~pre0`（以 `linuxcnc/VERSION` 和锁定的源码提交为准） -**关联文档**：[技术路线](linuxcnc-web-wasm-technical-roadmap.md)、[仿真全功能覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md)、[功能与源程序关联目录](linuxcnc-web-wasm-source-map.md)、[前端与 LinuxCNC 通信详细设计](linuxcnc-web-wasm-frontend-communication-design.md)、[总控执行手册](linuxcnc-web-wasm-integration-playbook.md)、[上下文治理与最小任务目录](linuxcnc-web-wasm-context-governance.md) +**关联文档**：[技术路线](linuxcnc-web-wasm-technical-roadmap.md)、[完整仿真机床实施蓝图](linuxcnc-web-wasm-full-port-implementation.md)、[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md)、[仿真全功能覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md)、[功能与源程序关联目录](linuxcnc-web-wasm-source-map.md)、[前端与 LinuxCNC 通信详细设计](linuxcnc-web-wasm-frontend-communication-design.md)、[总控执行手册](linuxcnc-web-wasm-integration-playbook.md)、[上下文治理与最小任务目录](linuxcnc-web-wasm-context-governance.md) 本文件是项目执行的治理入口。技术路线回答“做什么以及采用什么架构”，覆盖矩阵回答“逐项覆盖什么以及如何验收”，本文件回答“谁在什么固定上下文中交付、如何在断网或失败后接续、什么证据才能过门禁”。三份文档必须以同一基线版本更新；若规则冲突，以本文件的交付门禁和覆盖矩阵的逐项验收要求为准。 @@ -76,6 +76,8 @@ M0 必须冻结来源扫描和规范化规则；每个来源项至少映射到 “固定上下文”指每次任务交接和每次提交都重新装载一个固定格式、固定预算的上下文包，而不是把整个历史对话、全部日志或已完成阶段重新带入。上下文包是可丢弃的工作索引；完整源码、日志、golden 和差异报告留在仓库或 CI 产物中，只通过路径和摘要引用。 +启动顺序同样受预算约束：先只读取 `nextTask.md` 指针（不超过 8 KiB），再按当前子任务读取 `context-lock.json` 摘要和直接输入。`docs/task-history.md`、完整路线图、覆盖矩阵、`coverage/*.jsonl` 和完整 stdout/stderr 均为按需 L3 资料，不能在启动时批量加载。 + 上下文包使用固定的八段结构，逻辑预算为 **8,192 tokens，UTF-8 序列化不超过 32 KiB**。实现上由 [`scripts/context_packet.py`](../scripts/context_packet.py) 在选择证据时执行预算；校验器不能成为第一次发现超限的地方。每段有上限，缺省内容用 `none`，不得追加自由历史段： | 段 | 固定内容 | 建议上限 | @@ -91,6 +93,19 @@ M0 必须冻结来源扫描和规范化规则；每个来源项至少映射到 包的 `packet_id` 由 `context_id`、任务 ID 和修订号组成；修订只替换对应段，不复制旧包。超过任一段上限或总预算时，必须先拆分任务、生成摘要或把内容移到可寻址产物，不能扩大上下文预算。每次交接从最新包重建，旧包只保留哈希和归档链接，因此移植从阶段 A 深入阶段 E 时，上下文大小不变。 +模型调用还必须显式保留输出空间： + +```text +request_input_tokens = packet_input_tokens + fixed_overhead_tokens +model_context_window >= request_input_tokens + max_output_tokens + safety_margin +``` + +请求前由 `validate_model_budget.py` 阻断超限；请求后还必须由 `validate_provider_response` 校验 provider 返回的 usage，确认 `output_tokens <= max_output_tokens`。若 `finish_reason` 为 `length`/`max_tokens`/`max_output_tokens`，只保存 metadata-only checkpoint 并从最新 packet 发起更小的新请求，不能把截断响应追加回下一轮。 + +`fixed_overhead_tokens` 必须由调用方按当前请求重新计数，不能把上一次请求的历史累加进去。`max_output_tokens` 应按任务类型固定（文档 768、feature 1,024、contract 1,536、milestone 2,048 的默认上限），而不是使用模型的最大值；调用参数只能缩小 profile 的输入/输出预算，不能放大。`context_packet.py` 的字节、证据文件数和令牌覆盖值同样只能缩小 profile。没有 provider tokenizer 时按 UTF-8 字节作硬上界，拿到精确令牌数后可用 `--input-tokens` 替换估算。输入包达到预算 80% 或模型返回 `context_length_exceeded` 时，先移除最低优先级证据、缩短摘要或拆分子任务；不得把旧对话和失败响应再次拼回请求。 + +流式调用必须由 [`scripts/model_stream.py`](../scripts/model_stream.py) 的有界 SSE 解码器消费。只有 `response.completed` 且 `usage.input_tokens/output_tokens/total_tokens` 一致、输出未超 `max_output_tokens` 时才标记可复用；中途断流、解码失败、`response.failed`、上下文超限或 `response.incomplete` 只生成 metadata-only checkpoint。恢复动作固定为丢弃可选证据并从新 packet 重建，禁止续接半截文本或重试同一个超大请求。 + #### 生成阶段的预算算法 证据选择必须在写入输出文件前完成，按以下顺序执行： @@ -99,9 +114,9 @@ M0 必须冻结来源扫描和规范化规则；每个来源项至少映射到 2. 将候选证据规范化为 `path`、`bytes`、`sha256`、`kind`、`priority`、`required`，按必需、优先级、路径排序，保证选择确定性。 3. 逐项检查：单项证据字节预算、证据总字节预算、证据文件数，以及把该项加入 `selected` 后的完整上下文剩余空间；完整上下文按 `packet_bytes + selected_evidence_bytes` 计算，不能只计算 JSON 清单。 4. 可选项无法容纳时不写入包，记录稳定排除码；必需项无法容纳时直接失败，不生成部分成功包。 -5. 生成最终预算元数据后再次序列化校验；若审计清单本身使包超限，从最低优先级可选项回退并以 `E5=context_remaining_bytes_insufficient` 记录。若只剩必需项仍超限，失败。 +5. 生成最终预算元数据后再次序列化校验；若审计清单或令牌估算使包超限，从最低优先级可选项回退并以 `E5=context_remaining_bytes_insufficient` 或 `E6=token_budget_exceeded` 记录。若只剩必需项仍超限，失败。 -排除原因使用稳定机器码，避免长文本侵占上下文：`E1 duplicate_path`、`E2 evidence_item_bytes_exceed_budget`、`E3 evidence_file_count_exceed_budget`、`E4 evidence_bytes_exceed_budget`、`E5 context_remaining_bytes_insufficient`。输出必须包含选中证据字节数、选中/排除文件数、证据预算、总包预算、最终包字节数和排除码；CI 同时检查 `packet_bytes <= byte_limit` 和 `packet_bytes + selected_evidence_bytes <= byte_limit`，而不是先写超限包再报告错误。 +排除原因使用稳定机器码，避免长文本侵占上下文：`E1 duplicate_path`、`E2 evidence_item_bytes_exceed_budget`、`E3 evidence_file_count_exceed_budget`、`E4 evidence_bytes_exceed_budget`、`E5 context_remaining_bytes_insufficient`、`E6 token_budget_exceeded`。输出必须包含选中证据字节数、选中/排除文件数、证据预算、总包预算、最终包字节数和排除码；CI 同时检查 `packet_bytes <= byte_limit`、`packet_bytes + selected_evidence_bytes <= byte_limit` 和 token 上限，而不是先写超限包再报告错误。 上下文包的最小机器可读形状如下；CI 应检查字段齐全、段顺序、预算、`context_id` 一致性和引用产物存在： @@ -262,8 +277,8 @@ online_ready |---|---|---|---| | M0 基线锁定 | A | context lock、来源/测试清单、状态枚举、责任分工 | 清单可重建；缺项 CI 失败；文档链接和基线一致 | | M1 运行时骨架 | A | 单 Worker、固定 tick、ABI、最小 OPFS journal、Python 启动 | create/load/step/snapshot/recover ABI 测试通过；无网加载缓存样例 | -| M2 核心行为 | B | G/M/O、TP、坐标、补偿、kinematics、原生 golden | 受影响核心 manifest 全部 `verified`；首个 divergent tick 可定位 | -| M3 虚拟设备与持久化 | C | HAL/PLC/IO、数字孪生、事务恢复、断网接续 | 故障注入和恢复矩阵通过；配额不足不损坏已提交版本 | +| M2 核心行为 | B | G/M/O、TP、坐标、补偿、[K0-K5 运动学主线](linuxcnc-web-wasm-kinematics-migration-plan.md)、原生 golden | 受影响核心 manifest 全部 `verified`；每个运动学族的首个 divergent tick 可定位 | +| M3 虚拟设备与持久化 | C | HAL/PLC/IO、K6 运动集成、数字孪生、事务恢复、断网接续 | 故障注入和恢复矩阵通过；配额不足不损坏已提交版本 | | M4 Web 工作流 | D | 控制台、3D、VCP/配置工具、导入导出、离线 PWA | 关键 UI 工作流在浏览器矩阵通过；键盘/触摸和刷新恢复有证据 | | M5 发布候选 | E | 全量覆盖、兼容/许可证报告、迁移工具、离线包 | 所有可计入条目 `accepted`，排除项可识别，发布门禁全绿 | @@ -273,7 +288,7 @@ online_ready ### 7.1 合并门禁 -每个变更包至少通过：文档链接和术语检查、格式/静态检查、受影响单测、manifest 完整性检查、原生/WASM 差异测试（适用时）、离线影响场景（适用时）、`context_packet.py` 生成器测试、上下文包字段/大小检查和证据包字段检查。任何新增来源、配置、组件、G/M/O 功能或 UI 工作流没有 manifest 条目时 CI 失败。上下文包超过 8,192 tokens 或 32 KiB、出现未定义段、把旧包全文嵌入新包，均直接阻止合并。生成阶段不能产生超限包；验证阶段只能复核，不能负责裁剪。 +每个变更包至少通过：文档链接和术语检查、格式/静态检查、受影响单测、manifest 完整性检查、原生/WASM 差异测试（适用时）、离线影响场景（适用时）、`context_packet.py` 生成器测试、`validate_task_pointer.py` 启动指针检查、`validate_model_budget.py` 请求预算检查、上下文包字段/大小检查和证据包字段检查。任何新增来源、配置、组件、G/M/O 功能或 UI 工作流没有 manifest 条目时 CI 失败。上下文包超过 8,192 tokens 或 32 KiB、启动指针超过 8 KiB、模型输入加输出预留超出窗口、出现未定义段、把旧包全文嵌入新包，均直接阻止合并。生成阶段不能产生超限包；验证阶段只能复核，不能负责裁剪。 ### 7.2 里程碑门禁 diff --git a/docs/linuxcnc-web-wasm-full-port-implementation.md b/docs/linuxcnc-web-wasm-full-port-implementation.md new file mode 100644 index 0000000..7b99739 --- /dev/null +++ b/docs/linuxcnc-web-wasm-full-port-implementation.md @@ -0,0 +1,258 @@ +# LinuxCNC Web/WASM 完整仿真机床实施蓝图 + +**文档状态**：实施规范 v1.0 +**适用基线**：LinuxCNC `2.10.0~pre0`，提交由 [`context-lock.json`](../context-lock.json) 冻结 +**用途**：把“完整移植 LinuxCNC 仿真机床”分解为可实现、可回归、可恢复和可发布的工程闭环 +**运动学主线**：[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md) +**上位路线**：[技术路线](linuxcnc-web-wasm-technical-roadmap.md) +**覆盖依据**：[仿真全功能覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md) +**源程序依据**：[功能与源程序关联目录](linuxcnc-web-wasm-source-map.md) +**通信契约**：[前端与通信详细设计](linuxcnc-web-wasm-frontend-communication-design.md) +**执行总控**：[仿真移植总控执行手册](linuxcnc-web-wasm-integration-playbook.md) + +本文件是实施层的补充规范。运动学实现族、正逆解契约和 K0-K8 里程碑以[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md)为专项细则。它不替代来源清单、协议 schema 或覆盖矩阵；当这些文件发生冲突时，`context-lock.json`、协议 schema 和逐文件覆盖记录优先。本文件解决的是：一个 LinuxCNC 仿真入口如何启动，经过哪些运行时层，如何产生确定性结果，如何在浏览器中恢复，以及怎样证明“完整”而不是“演示可用”。 + +## 1. 完整移植的工程定义 + +完整移植必须同时闭合六条链。任何一条链缺失，都只能称为部分移植或演示版本： + +| 闭合链 | 必须回答的问题 | 发布前证据 | +|---|---|---| +| 来源闭合 | LinuxCNC 文档、源码、符号、配置资源和测试是否全部登记？ | `source-index`、`manifest`、依赖闭包、零孤儿报告 | +| 构建闭合 | 可移植代码、适配层、静态组件和 Python 运行时是否可重建？ | 编译锁、构建日志、产物 SHA-256、许可证清单 | +| 启动闭合 | 任一纳入范围的 `configs/sim` 入口能否解析并进入 `READY` 或给出可诊断错误？ | 配置资源图、启动日志、错误文件/行号 | +| 行为闭合 | 解释器、TP、运动、HAL、IO、PLC 和 Python 的可观察结果是否与原生 oracle 一致？ | JSONL golden、首个 divergent tick 报告、容差说明 | +| 工作流闭合 | 编辑、MDI、运行、暂停、单步、急停、jog、home、工具、报警和恢复是否能从 UI 完成？ | 浏览器 E2E、键盘/触摸、故障和恢复场景 | +| 交付闭合 | 离线、迁移、配额、崩溃恢复、回滚、兼容性和许可证是否可审计？ | 发布清单、离线包、迁移/回滚演练、兼容报告 | + +“全覆盖”只统计仿真可观察能力。真实硬件、硬实时内核和安全认证属于 `REAL-EXCLUDED`；但它们在仿真配置中产生的信号必须由数字孪生提供，不能以“不支持”跳过主轴、编码器、探针、限位、换刀、冷却或 IO 的仿真行为。 + +## 2. 当前起点和硬门禁 + +当前仓库的实际起点如下，不能用文档中的目标状态替代代码证据： + +| 项目 | 当前状态 | 实施含义 | +|---|---|---| +| M0 来源/上下文 | 已生成，锁定 8,026 个来源条目和 context lock | 任何来源变化先重建并审查哈希 | +| M1 ABI 骨架 | 已有生命周期、固定 tick、快照和导入导出骨架 | 只能作为 ABI 起点，不代表 LinuxCNC 核心已接入 | +| posemath/解释器/运动切片 | 已有仓库内适配报告和原生测试证据 | 仍需接入统一 `sim_task`、HAL 和 Worker | +| kinematics 节点 | 旧 `M2-CORE-04` blocked，当前转入 K0 来源审计 | 锁定来源缺少声明的 `linuxcnc/unit_tests/kinematics/**`，不得静默改用其他目录 | +| Python、完整 HAL、UI、OPFS 恢复 | 尚未完成全量闭环 | 不得以 mock、刷新后重建或单一三轴页面宣称完成 | + +每个实施任务开始前运行基线门禁： + +```bash +python3 scripts/validate_baseline.py +python3 scripts/validate_download_index.py +python3 -m unittest discover -s scripts -p 'test_*.py' -v +python3 scripts/validate_task_pointer.py +``` + +若锁定提交、输入目录、schema 版本或生成器版本发生变化，先创建新的 `context_id`；不能在旧 context 中覆盖索引或降低校验条件。 + +## 3. 运行时分层和依赖规则 + +完整仿真运行时固定为单 Dedicated Worker 单写者模型。主线程只能通过版本化协议读取状态和提交命令，不能读取 WASM 指针、修改 HAL pin 或直接写 OPFS。 + +```text +UI / Three.js / 编辑器 + │ protocol.v1 +Worker: CommandRouter → TaskLedger → SimScheduler + │ ├─ SimTask / rs274ngc / canonical + │ ├─ TP / posemath / kinematics + │ ├─ SimMotion / homing / limits + │ ├─ SimHAL / components / ClassicLadder + │ ├─ SimIO / digital-twin devices + │ └─ PythonRuntime / remap / VCP + ├─ SnapshotPublisher / EventBus / TraceRecorder + └─ WorkspaceRuntime → WasmFS/POSIX → OPFS journal/checkpoint +``` + +依赖必须单向流动： + +1. 几何、解释器和运动核心不能依赖 DOM、OPFS、Python 或 UI。 +2. HAL 组件只能通过注册的 pin/signal/parameter 接口访问运行时；组件不得调用宿主路径、网络或动态加载。 +3. Python 只能访问白名单虚拟模块、`/workspace` 和虚拟时钟；超出能力返回稳定错误码。 +4. UI 只能消费快照、事件和流；派生显示状态不得回写 authoritative state。 +5. OPFS 只承接事务和恢复，不参与每个仿真 tick 的运动计算。 + +WASM 核心以独立 CMake/Emscripten 目标构建。LinuxCNC 原生 `meson.build` 继续用于 oracle 和原生测试，不作为 WASM 的直接构建入口。动态库、`fork/exec`、NML/CMS 进程边界和共享内存改为静态注册、进程内对象和版本化快照。 + +## 4. 一个仿真入口的启动闭环 + +所有 `configs/sim/**` 入口都必须经过相同的启动状态机；配置专属差异只能来自已登记能力和资源，不得在 UI 中写隐式特例。 + +```text +NEW + → WORKSPACE_MOUNTED + → INI_PARSED + → RESOURCES_RESOLVED + → CORE_CREATED + → HAL_TWOPASS_DONE + → DEVICES_BOUND + → TASK_READY + → RUNNING / PAUSED / ESTOP + → STOPPED → DESTROYED +``` + +启动步骤及其产物： + +1. `HANDSHAKE`：协商 `context_id`、ABI/protocol/snapshot 版本和能力注册表；版本不兼容直接拒绝。 +2. `MOUNT`：将工程挂载到虚拟 `/workspace`，规范化大小写、路径和编码，拒绝 `..`、绝对宿主路径和符号链接。 +3. `PARSE_INI`：解析 section、include、变量替换、轴/关节/主轴数量、周期和入口文件；错误必须包含文件、行和字段。 +4. `RESOLVE`：构建 `.hal`、`.tbl`、`.var`、`.ngc`、`.py`、`.xml/.glade/.ui`、`.clp`、`.halscope/.halshow` 等资源图，报告缺失、循环和宿主依赖。 +5. `CREATE_CORE`：按配置静态选择 kinematics、解释器、TP、motion、IO 和工具服务，记录模块版本与 source SHA。 +6. `HAL_TWOPASS`：完成 `loadrt`、组件实例、`addf`、`setp`、`net`、`sets`、`link*` 的确定性顺序；任何未注册组件阻断启动。 +7. `BIND_DEVICES`：绑定轴、编码器、主轴、探针、限位、回零、换刀、冷却和 PLC 数字孪生，并应用故障模型。 +8. `START_TASK`：加载程序、参数、工具表和 Python/remap；运行一次零周期初始化，生成初始状态哈希。 +9. `READY`：发布完整快照、能力和资源诊断。UI 只有收到 `READY` 才能开放运行按钮。 + +任一步骤失败时，必须撤销尚未提交的资源绑定并保留结构化诊断；不能留下半初始化会话，也不能通过“忽略失败文件”进入 `READY`。 + +## 5. 固定 tick 和状态更新顺序 + +`sim_step(cycles)` 是唯一改变仿真结果的入口。每个逻辑周期按下列顺序执行，顺序属于协议和 golden 的一部分： + +1. 读取本周期已确认的命令，按 `seq` 和 `operation_id` 去重；未确认的命令不能重复产生副作用。 +2. 执行 Task/解释器预算，产生 canonical 队列、当前行、模态和错误。 +3. 运行 TP 前瞻、blend、速度/加速度/jerk 限制，生成本周期目标轨迹。 +4. 调用 kinematics `inverse`，检查奇异姿态、轴/关节限制和 NaN/Inf。 +5. 更新 motion、homing、软/硬限位、following error、急停和 jog 状态。 +6. 按静态线程清单运行 HAL function、虚拟轴/编码器/主轴/探针/换刀和 ClassicLadder scan。 +7. 处理 IO 完成、输入等待、超时、报警和 Python 回调；回调不能绕过当前 tick。 +8. 生成事件、采样和状态哈希；先发布内存快照，再按 checkpoint/journal 策略持久化。 + +暂停只停止后续运动和解释，不丢弃已入队 canonical；急停清空或冻结哪些队列必须由状态机明确规定。快速模式、1x、单步、暂停恢复和回放在相同逻辑终点必须得到相同状态哈希；墙钟只用于节流和让出 Worker 事件循环。 + +## 6. 各域实施契约 + +### 6.1 配置、工作区和启动资源 + +实现顺序为“路径规则 → 文件 API → 解析器 → 资源图 → 启动器”。至少提供 `open/read/write/stat/readdir/rename/unlink/fsync`，并保留 LinuxCNC 相对路径和 include 语义。 + +| 输入类型 | 处理方式 | 最小验收 | +|---|---|---| +| `.ini/.inc` | 兼容 section、变量、include、相对路径和循环检测 | 逐文件行号诊断、重复加载结果一致 | +| `.hal/.comp` | 解析 twopass、实例、函数顺序和 pin 类型；组件构建期静态注册 | HAL graph 与 native 对齐 | +| `.tbl/.var` | 工具、pocket、offset、参数和 wear 的版本化服务 | 加载、编辑、提交、恢复一致 | +| `.ngc/.nc` | 主程序、子程序、O-word、M-code 文件和过滤器 | 相同入口解析到相同程序图 | +| `.py` | 受控 Python runtime；能力清单和资源限额 | 正常、异常、超时、禁止 API | +| `.xml/.glade/.ui` | 转换为 Web Component descriptor；保留 pin、属性、回调 | 样例面板可加载且权限可审计 | +| `.clp/.halscope/.halshow` | 解析 PLC、采样、触发和回放描述 | 逻辑/波形结果可回放 | + +资源图必须记录 `input_sha`、解析器版本、依赖、输出能力和错误。配置加载不成功时，错误报告必须能反向定位到 manifest 条目。 + +### 6.2 解释器、Task、TP、motion 和 kinematics + +移植以原生 oracle 为先：先让 native runner 输出解释器状态、canonical、每 tick 运动和错误，再接入 WASM。核心边界只允许使用固定宽度类型和稳定错误码。 + +实施顺序： + +1. posemath 和数值策略：固定浮点编译选项、角度/单位换算、NaN/Inf 检查。 +2. rs274ngc：词法/语法、模态、参数、O-code、循环、补偿、G/M/O 和错误位置。 +3. canonical/TP：直线、圆弧、球面弧、样条、NURBS、前瞻、blend、exact stop 和同步运动。 +4. Task/NML 兼容：命令、状态、错误、模式转换、MDI、单步、暂停、恢复、abort 和队列清空。 +5. motion：轴/关节、jog、home、软硬限位、following error、外部偏置和故障注入。 +6. kinematics：trivkins、gantry、CoreXY、5/6 轴、Delta、机器人、foam 等静态模块；每个模块提供 `forward/inverse/limits/capabilities`。 + +`M2-CORE-04` 当前因锁定输入缺少 `unit_tests/kinematics/**` 而 blocked。处理方式只有两种：补充并重新锁定确实存在的官方测试输入，或由契约变更明确批准替代 oracle 并登记差异；不能把 `tests/matrixkins/**` 直接伪装成原声明输入。 + +### 6.3 HAL、组件、PLC 和数字孪生 + +HAL 运行时必须先建立类型化对象图，再执行组件。组件来源按三类登记：可移植核心、构建期 `.comp` 组件、仿真专用数字孪生。每个组件 manifest 至少包含名称、版本、输入/输出 pin、参数、线程要求、依赖、权限、测试和状态。 + +固定调度顺序为：`base/servo`（如配置启用）→运动反馈→主轴/编码器→通用 HAL function→PLC scan→IO 完成→采样发布。缺少实时墙钟不改变这个逻辑顺序。 + +数字孪生必须能脚本化以下状态：主轴加减速/不到速/定向失败，编码器计数和丢脉冲，探针触发/未触发，限位/回零，换刀成功/超时/失败，冷却和润滑，模拟/数字 IO 延迟、抖动和故障。故障注入本身也是可回放输入，不能通过随机数产生不可重复结果。 + +ClassicLadder 需要覆盖工程加载、寄存器、触点/线圈、定时器、计数器、顺序控制、HAL 绑定、扫描周期、暂停/恢复和诊断 UI；真实 Modbus transport 排除，但虚拟寄存器、延迟和错误状态必须可配置。 + +### 6.4 Python、remap、VCP 和插件 + +Python runtime 在 Worker 内启动，固定 Pyodide 版本、包索引和 artifact hash。桥接模块只提供 `linuxcnc`、`hal`、`gstat`、INI、工具表、虚拟时间和工作区 API；`subprocess`、`socket`、宿主线程、设备文件和任意路径必须返回稳定的能力拒绝错误。 + +remap/filter/VCP 每次调用都记录入口、参数摘要、tick、返回值、异常、耗时和资源消耗。Python 异常必须回到解释器/Task 错误语义，不能只写 console。VCP descriptor 转换为带版本和权限的 Web Component schema，插件崩溃不得破坏核心会话。 + +### 6.5 协议、快照、事件和持久化 + +命令必须执行 `prepare → execute → verify → commit`；`operation_id` 幂等，回答丢失时先查账本。快照至少分为配置、解释器、Task、TP、motion、kinematics、HAL、IO、Python、工作区和恢复元数据，并带 `schema_version/context_id/simulation_tick/state_hash`。 + +OPFS 只保存已提交工程、journal、checkpoint、日志和可删除缓存。推荐恢复流程：读取最近有效 checkpoint → 校验哈希 → 按序重放已提交 journal → 对未确认操作逐项对账 → 发布 `RECOVERED` 或明确 `RECOVERY_BLOCKED`。不能以“重新加载 INI 并从头运行”替代状态恢复。 + +## 7. 原生 oracle 和全量回归 + +原生 runner 与 WASM runner 必须使用同一工程输入和同一命令序列。每个样本至少输出： + +```json +{ + "context_id": "...", + "entry_source_id": "...", + "test_id": "...", + "tick": 1234, + "interpreter": {"line": 12, "modal_hash": "...", "parameters_hash": "..."}, + "canonical": [{"kind": "straight_feed", "target": [0, 0, 0]}], + "motion": {"axis": [], "joint": [], "following_error": []}, + "hal": {"pins_hash": "...", "signals_hash": "..."}, + "io": {"spindle": {}, "tool": {}, "probe": {}}, + "events": [], + "state_hash": "..." +} +``` + +差异报告必须给出首个 divergent tick、字段路径、原生值、WASM 值、单位、容差、来源文件和 manifest ID。浮点容差只能用于数值字段，不能掩盖状态转换、错误码、事件顺序、当前行、工具号或 HAL 拓扑差异。 + +每个入口至少执行以下维度：正常运行、边界数值、语法/配置错误、暂停/单步/abort、急停/限位/设备故障、导出导入、Worker 重启/OPFS 恢复、离线启动；有 UI 或插件的入口再加键盘/触摸、权限和背压维度。 + +发布前必须满足： + +- `source-index`、`manifest`、依赖闭包和配置资源图无孤儿，所有条目已分配 owner/feature/domain。 +- 所有可计入条目为 `accepted`；不得残留 `planned`、`needs_owner`、无 oracle 或无测试维度条目。 +- 同一输入在至少三次运行、1x/快速/单步/恢复路径下的最终 `state_hash` 一致。 +- 所有事件按 `seq/tick` 单调发布，重放不重复产生已提交副作用。 +- 配额不足、schema 不兼容、缺失资源、禁止宿主能力和恢复无法对账均有明确错误，不静默降级。 +- 浏览器矩阵、性能、内存、离线、许可证、迁移和回滚报告齐全；性能优化不能改变 golden 结果。 + +## 8. 分阶段实施和产物 + +| 阶段 | 实施重点 | 必须产物 | 退出条件 | +|---|---|---|---| +| M0 基线闭合 | 来源、符号、配置、测试、依赖和 context lock | 索引、manifest、oracle schema、影响图 | 零孤儿、哈希可重建、缺字段会失败 | +| M1 会话闭环 | C ABI、Worker 队列、虚拟工作区、固定 tick、最小恢复 | WASM/原生 ABI 测试、协议 schema、journal/checkpoint | create/load/step/snapshot/export/import/recover 通过 | +| M2 核心行为 | 解释器、canonical、TP、Task、motion、kinematics、工具服务 | 每个源组的适配报告、golden、差异报告 | 受影响核心条目 `verified`；blocked 输入已处理 | +| M3 仿真系统 | HAL、`.comp`、ClassicLadder、IO、数字孪生、Python/remap | 组件 manifest、HAL graph、故障矩阵、Python 能力报告 | 配置启动和 S1-S6 场景通过 | +| M4 Web 工作流 | 工程、编辑器、MDI、控制台、HAL/PLC、VCP、Three.js、导入导出 | 浏览器 E2E、截图/像素、性能和恢复证据 | 所有真实 Worker 工作流通过，mock 退出 | +| M5 发布闭合 | 全量 configs/tests/unit_tests、浏览器、离线、迁移、许可证 | 兼容报告、排除项、离线包、回滚包 | G0-G5 全绿，所有计入条目 `accepted` | + +每个阶段都按“输入冻结 → 失败测试 → 最小实现 → native/WASM 对照 → 故障/恢复 → 文档和 manifest → 门禁”执行。阶段间不得用“先做 UI、后补核心”绕过依赖。 + +## 9. 实施任务的最小交付包 + +每个子任务只能有一个主要结果，并在提交中同时更新： + +1. 受影响 source/feature/task/test/oracle 的 ID 和 source SHA。 +2. C ABI、协议、快照或工作区 schema 的版本和兼容策略（若有变化）。 +3. 正常、边界、错误、恢复和离线测试命令及结果路径。 +4. native/WASM 差异报告、性能/内存/配额影响和已知限制。 +5. 回滚点、未完成输入、下一任务和 `nextTask.md` 指针。 + +示例任务标题应具体到单一结果，例如：`M3-RT-03b：限位与换刀故障注入可回放`，而不是“完善仿真设备”。任务若同时修改两个独立契约，先拆成契约任务和实现任务。 + +## 10. 停止线和风险处置 + +- 来源或测试输入缺失：停止并记录 `blocked`，由新的契约变更决定是否补充输入；不删样本、不改目录级状态。 +- 原生/WASM 首个差异未定位：冻结受影响源组和 golden，不进入下一层集成。 +- 协议/ABI/schema 破坏性变化：新建版本、迁移和双向测试；旧版本不能静默接受。 +- Python、组件或 VCP 需要宿主能力：改为虚拟能力或明确 `REAL-EXCLUDED`，并测试拒绝路径。 +- OPFS journal/checkpoint 损坏、配额不足或确认丢失：保留最近已提交版本，进入恢复或导出，不覆盖旧数据。 +- 非确定性、随机故障或浏览器墙钟改变结果：禁止合并，固定种子、顺序、tick 和输入后重跑。 +- 性能优化导致 golden 变化：按行为回归处理，不能以“更快”豁免差异。 + +## 11. 当前立即执行顺序 + +1. 按 `nextTask.md` 执行 `K0-INV-01`，处理旧 `M2-CORE-04` 的 kinematics 输入阻塞，先确认锁定提交中不存在声明路径，并保留报告。 +2. 若要采用替代 oracle，先创建可审查的契约变更和新的 context lock；否则保持 blocked，不推进 HAL 节点。 +3. 在 kinematics 契约闭合后，完成静态模块注册、`forward/inverse/limits` ABI、确定性状态哈希和失败路径测试。 +4. 继续 `M2-CORE-05` 前，先让 native runner、WASM runner 和 `sim_step` 共享同一 tick/golden schema。 +5. 只有 M2 核心条目达到 `verified`，才进入 HAL/数字孪生/OPFS 恢复；只有 M3 通过，才把 mock UI 替换成真实 Worker 工作流。 + +本文件完成的是实施规则和证据闭环，不改变当前任务指针，也不把尚未实现的 LinuxCNC 功能标为完成。 diff --git a/docs/linuxcnc-web-wasm-implementation-readiness.md b/docs/linuxcnc-web-wasm-implementation-readiness.md index be38f61..09bbfda 100644 --- a/docs/linuxcnc-web-wasm-implementation-readiness.md +++ b/docs/linuxcnc-web-wasm-implementation-readiness.md @@ -3,20 +3,20 @@ **状态**：M0 已落地，M1 ABI 骨架已验证，LinuxCNC 功能移植尚未完成 **目标**：把既有技术路线收敛成可执行的实施顺序、完整性证明和发布前置条件 **固定基线**：LinuxCNC `2.10.0~pre0`，提交 `239dcf4284762ad7e9c65d390bc5524d855c2f8e` -**关联文档**：[技术路线](linuxcnc-web-wasm-technical-roadmap.md)、[覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md)、[源程序关联](linuxcnc-web-wasm-source-map.md)、[通信设计](linuxcnc-web-wasm-frontend-communication-design.md)、[执行策略](linuxcnc-web-wasm-execution-strategy.md)、[总控手册](linuxcnc-web-wasm-integration-playbook.md) +**关联文档**：[技术路线](linuxcnc-web-wasm-technical-roadmap.md)、[完整移植实施蓝图](linuxcnc-web-wasm-full-port-implementation.md)、[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md)、[覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md)、[源程序关联](linuxcnc-web-wasm-source-map.md)、[通信设计](linuxcnc-web-wasm-frontend-communication-design.md)、[执行策略](linuxcnc-web-wasm-execution-strategy.md)、[总控手册](linuxcnc-web-wasm-integration-playbook.md) -本文件是开始编写程序前的单页入口。专项文档保留详细契约；本文件只固定真实基线、先后顺序、完成定义和阻断条件。 +本文件是开始编写程序和恢复任务前的单页入口。完整移植实施蓝图进一步规定启动状态机、运行时依赖、tick 顺序和各域产物；专项文档保留详细契约。本文件只固定真实基线、先后顺序、完成定义和阻断条件。 ## 1. 现状和不可误读项 -本仓库已经具备完整设计文档，但此前没有 Web/WASM 运行时代码。当前 M0/M1 产物如下： +本仓库已经具备完整设计文档，并已落地一组可独立验证的 Web/WASM 运行时切片；LinuxCNC 全功能运行时仍未闭合。当前 M0/M1 产物如下： | 产物 | 当前事实 | 允许的结论 | |---|---|---| | `context-lock.json` | 锁定 LinuxCNC 提交、Emscripten 3.1.6、schema v1 和索引哈希 | 基线可复现 | -| `coverage/source-index.jsonl` | 7,992 个来源文件，来自 docs/src/configs/tests/unit_tests/build | 来源扫描已开始，可审计 | -| `coverage/manifest.jsonl` | 7,992 个一对一种子条目，全部 `planned/needs_owner` | 没有来源被静默漏掉；不代表已实现 | -| `wasm-core` | C ABI 生命周期、固定 tick、快照、导入导出骨架 | 工程边界可编译、可调用 | +| `coverage/source-index.jsonl` | 8,026 个来源文件，来自 docs/src/configs/tests/unit_tests/build | 来源扫描已开始，可审计 | +| `coverage/manifest.jsonl` | 8,026 个一对一种子条目，全部 `planned/needs_owner` | 没有来源被静默漏掉；不代表已实现 | +| `wasm-core` | C ABI 生命周期、固定 tick、快照、导入导出，以及 posemath/解释器/运动适配切片 | 工程边界可编译、可调用；不代表完整核心闭合 | | `build-wasm`/`build-native` | WASM 模块生成，宿主 ABI 单测通过 | 构建链路可重跑 | 以下能力目前都不能声明完成：rs274ngc、TP、motion、kinematics、HAL、ClassicLadder、Python/remap、OPFS、Worker、UI、Three.js、全量配置和浏览器回归。 diff --git a/docs/linuxcnc-web-wasm-integration-playbook.md b/docs/linuxcnc-web-wasm-integration-playbook.md index aa1f84c..bf46040 100644 --- a/docs/linuxcnc-web-wasm-integration-playbook.md +++ b/docs/linuxcnc-web-wasm-integration-playbook.md @@ -4,13 +4,15 @@ **用途**：统一功能完整性、任务执行、依赖、测试、接续和里程碑验收 **固定基线**：LinuxCNC `2.10.0~pre0`，以 `linuxcnc/VERSION` 和 context lock 为准 **架构路线**：[技术路线](linuxcnc-web-wasm-technical-roadmap.md) +**完整实施蓝图**：[完整仿真机床实施蓝图](linuxcnc-web-wasm-full-port-implementation.md) +**运动学主线**：[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md) **源码目录**：[功能与源程序关联目录](linuxcnc-web-wasm-source-map.md) **前端/通信**：[前端与 LinuxCNC 通信详细设计](linuxcnc-web-wasm-frontend-communication-design.md) **覆盖验收**：[仿真全功能覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md) **治理规则**：[项目执行与交付策略](linuxcnc-web-wasm-execution-strategy.md) **最小任务与上下文**：[上下文治理与最小任务目录](linuxcnc-web-wasm-context-governance.md) -本手册是五份设计文档的总控入口。它不替代各专项文档，而是规定它们如何组合、谁负责什么、任务如何进入执行、依赖如何推进、失败如何恢复以及什么证据才能声明移植完成。 +本手册是专项设计文档的总控入口。完整实施蓝图规定单个仿真入口如何启动和推进；本手册不替代这些专项文档，而是规定它们如何组合、谁负责什么、任务如何进入执行、依赖如何推进、失败如何恢复以及什么证据才能声明移植完成。 ## 1. 当前审计结论 @@ -19,14 +21,14 @@ ```text 设计基线：已建立 源码/功能清单：`coverage/source-index.jsonl` 和 `coverage/manifest.jsonl` 已生成，全部条目仍待归并 -运行时实现：`wasm-core` ABI bootstrap 已编译，LinuxCNC 核心尚未接入 +运行时实现：`wasm-core` ABI bootstrap 及部分 posemath/解释器/运动切片已编译，LinuxCNC 全量核心尚未接入 前端实现：未开始或尚未进入当前工作区 全功能验收：未开始，不得声明已完成 ``` 这是当前交付边界：后续任务从 M1/WS-1 的 ABI、原生 runner、固定 tick 和工作区契约继续；M0 清单重生成和哈希校验仍是每次基线变化的前置步骤。任何演示页面、mock Worker 或单一三轴样例都不能把项目状态提前改成“全功能完成”。 -上下文治理的可执行入口是 `scripts/context_packet.py`，测试是 `scripts/test_context_packet.py`，任务拆分和分层读取以[上下文治理与最小任务目录](linuxcnc-web-wasm-context-governance.md)为准。当前仓库没有运行时实现，但上下文生成和预算测试已经可以独立运行；后续 CI 应在任何任务证据包生成前调用该脚本。 +上下文治理的可执行入口是 `scripts/context_packet.py`、`scripts/validate_task_pointer.py`、`scripts/validate_model_budget.py` 和 `scripts/model_stream.py`，测试是 `scripts/test_context_packet.py`、`scripts/test_model_stream.py` 及对应校验器单测，任务拆分和分层读取以[上下文治理与最小任务目录](linuxcnc-web-wasm-context-governance.md)为准。模型预算校验还必须传入当前请求的 `--overhead-tokens`；连续任务从最新包重建，不累加旧对话。请求前校验输入、固定开销、输出预留和安全余量，请求后用 `validate_provider_response` 校验 provider usage；流式断开、上下文超限、usage 异常和截断响应只写 metadata-only checkpoint，不拼回下一轮。当前仓库已有可独立验证的核心切片，但尚未形成完整 LinuxCNC 运行时；上下文生成、启动指针、模型请求预算和流式恢复测试已经可以独立运行；CI 应在任何任务证据包生成或模型请求前调用相应脚本。 ## 2. 唯一追踪链 @@ -116,7 +118,7 @@ M0 / WS-0 基线、source map、manifest、context lock | CORE-04 | TP/posemath/几何 | `src/emc/tp/**`、posemath | canonical、轨迹和容差报告 | | CORE-05 | Task/NML/状态 | `src/emc/task/**`、nml_intf、libnml | message bus 和状态快照 | | CORE-06 | Motion/homing/limit | `src/emc/motion/**` | jog、home、limit、following error | -| CORE-07 | Kinematics 全集 | `src/emc/kinematics/**` | 静态模块、能力注册、姿态 golden | +| CORE-07 | Kinematics 全集 | `src/emc/kinematics/**` | 按[K0-K8 运动学主线](linuxcnc-web-wasm-kinematics-migration-plan.md)执行；静态模块、能力注册、姿态 golden | | CORE-08 | Tooldata/IO 基础 | `src/emc/tooldata/**`、iotask | 工具、主轴、换刀、IO 状态 | ### 5.3 WS-2/WS-3/WS-4 运行时集成 @@ -145,14 +147,30 @@ M0 / WS-0 基线、source map、manifest、context lock | REG-04 | 浏览器/性能/视觉矩阵 | FE、COM-03 | Chromium/Firefox/Safari、P95/P99、截图/像素 | | REL-01 | 兼容、许可证、迁移、回滚和离线包 | 全部 REG | 发布候选证据包和签名报告 | +### 5.5 运动学主线 K0-K8 + +运动学不再作为 CORE-07 的单个串行任务处理。K0-K8 是从来源审计到发布闭合的硬门，详细输入、算法族和测试矩阵见[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md)。 + +| 主线阶段 | 解锁范围 | 对整体项目的门禁 | +|---|---|---| +| K0 | 源文件、符号、配置入口、native FK/IK 样本和缺失输入 | 未闭合时不得声明任何非 trivkins 配置可运行 | +| K1 | C ABI、pose/joint 映射、flags、数值/迭代策略 | 未闭合时 motion 只能保留 bootstrap，不得接入全量算法 | +| K2 | trivkins 全类型、重复轴、extra joints、corexy/rose/max/rotate | 未闭合时不得验收 axis/joint 模式、HAL 耦合或恢复 | +| K3 | 5 轴 TRT、SCARA/PUMA/Scorbot/GenSer | 未闭合时不得验收刀尖跟随、机器人和 5 轴可视化 | +| K4 | Delta、RotaryDelta、Tripod、Hexapod、Pentapod | 未闭合时不得验收并联机构、迭代正解和 Vismach | +| K5 | switchkins、userk/ugenser 静态扩展和能力注册 | 未闭合时不得加载切换或用户运动学配置 | +| K6 | TP→IK→motion→FK feedback、home/limit、IO/数字孪生 | 未闭合时 M3 运动故障和恢复场景不具备发布资格 | +| K7 | Three.js 姿态、全配置回归和浏览器故障矩阵 | 未闭合时 M4 UI 只能作为结构原型 | +| K8 | 兼容、迁移、许可证、来源和回滚闭合 | 未闭合时 M5 不能进入发布候选 | + ## 6. 里程碑总表 | 里程碑 | 入口条件 | 必须完成 | 退出证据 | 失败动作 | |---|---|---|---|---| | M0 基线锁定 | 版本和范围确认 | INV-01..05、状态枚举、责任人 | source/manifest/context lock 可重建，零孤儿规则生效 | 返回清单阶段，不写运行时代码 | | M1 运行时骨架 | M0 通过 | CORE-01/02、RT-01、FS-01、COM-01/02 最小集 | create/load/command/step/snapshot/recover、离线缓存启动 | 固定 ABI/schema，修复后重跑 M1 | -| M2 核心行为 | M1 通过 | CORE-03..08、native/WASM runner、解释/轨迹/运动 golden | 核心 manifest `verified`，首个差异 tick 可定位 | 回退到对应核心任务，不进入 UI 全量 | -| M3 虚拟设备和恢复 | M2 通过 | RT-02..04、FS-02/03、PY-01/02、COM-03..05 | HAL/PLC/IO/故障/配额/重启/断网矩阵通过 | 阻断仿真会话发布，保留本地证据 | +| M2 核心行为 | M1 通过，K0 入口审计完成 | CORE-03..08、K0-K5、native/WASM runner、解释/轨迹/运动 golden | 核心 manifest `verified`，每个运动学族的首个差异 tick 可定位 | 回退到对应 K/核心任务，不进入 UI 全量 | +| M3 虚拟设备和恢复 | M2 通过，K6 完成 | RT-02..04、FS-02/03、PY-01/02、COM-03..05、运动学数字孪生 | HAL/PLC/IO/故障/配额/重启/断网矩阵通过 | 阻断仿真会话发布，保留本地证据 | | M4 前端工作流 | M3 通过 | FE-01..10、COM-06、关键 UI/3D/配置工作流 | UI 条目有协议、源文件、测试、oracle 和恢复证据 | 禁止 mock 冒充完成，回退 FE/COM | | M5 发布候选 | M0..M4 通过 | REG-01..04、REL-01 | G0-G5 全绿、全计入条目 `accepted`、排除项可识别 | 维持候选冻结，创建修复 context 或回退 | diff --git a/docs/linuxcnc-web-wasm-kinematics-migration-plan.md b/docs/linuxcnc-web-wasm-kinematics-migration-plan.md new file mode 100644 index 0000000..4265777 --- /dev/null +++ b/docs/linuxcnc-web-wasm-kinematics-migration-plan.md @@ -0,0 +1,304 @@ +# LinuxCNC Web/WASM 运动学完整移植计划 + +**文档状态**：重梳理版 v1.0 +**适用基线**：LinuxCNC `2.10.0~pre0`，以 [`context-lock.json`](../context-lock.json) 为准 +**目标**：完成所有纳入 `configs/sim/**` 的运动学类型、配置变体、正解/逆解、回零、模式切换和浏览器可视化闭环 +**上位实施**：[完整仿真机床实施蓝图](linuxcnc-web-wasm-full-port-implementation.md) +**源程序关联**：[功能与源程序关联目录](linuxcnc-web-wasm-source-map.md) +**覆盖验收**：[仿真全功能覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md) + +本文件将运动学从“CORE-04 的一个任务”提升为贯穿核心、运动、HAL、数字孪生、可视化和回归的主线。它不把算法按文件名简单罗列，而是要求每个类型都闭合：配置选择、参数解析、坐标/关节映射、正解、逆解、分支标志、回零、限制/奇异性、固定 tick、故障注入、native/WASM oracle、UI 姿态和恢复。 + +## 1. 为什么运动学必须单独成线 + +LinuxCNC 的 `KINEMATICS` 不只是一个 `forward()`/`inverse()` 函数： + +- `KINEMATICS_IDENTITY`、`FORWARD_ONLY`、`INVERSE_ONLY`、`BOTH` 会改变 Task、motion、jog、home 和世界/关节模式转换。 +- `coordinates=` 可以重复轴字母（如 `XYYZ`），额外关节不进入 kinematics；映射错误会让解释器正确的轨迹驱动错误的关节。 +- 正解和逆解可能有多分支，需要 `KINEMATICS_FORWARD_FLAGS`、`KINEMATICS_INVERSE_FLAGS` 保持姿态连续；并行机构和机器人还需要上一次 pose 作为迭代初值。 +- 许多配置使用 `switchkins`、HAL 实现的 CoreXY 或 GUI 专用 kinematics，不能只按 `[KINS]KINEMATICS` 的模块名判断。 +- 5 轴刀尖跟随、转台/摆头、Delta/Hexapod、SCARA/PUMA 等算法的单位、角度、奇异点和收敛策略不同；“能编译”不代表“可运行”。 + +因此运动学主线是 M2 核心行为进入 M3 HAL/数字孪生和 M4 UI 的硬门。运动学主线未达到 `verified`，不得把任意非 trivkins 配置标为可运行。 + +## 2. 锁定来源和类型清单 + +### 2.1 公共接口和适配基础 + +必须逐文件登记并保留 `source_sha`： + +| 来源组 | 文件 | 作用 | +|---|---|---| +| ABI/类型 | `src/emc/kinematics/kinematics.h` | `EmcPose`、四种 kinematics 类型、正逆解 flags、home 和 switch API | +| 映射/通用 | `kins_util.c`、`userkfuncs.c`、`ugenserkins.c` | `coordinates` 到 joint 映射、identity 实现、用户模板 | +| 切换 | `switchkins.c`、`switchkins.h` | 0/1/2 类型选择、last pose、迭代正解和 GUI pins | +| 几何 | `src/libnml/posemath/**`、`src/libnml/gomath/**` | 变换、矩阵、向量、数值容差和姿态表示 | +| 运动耦合 | `src/emc/motion/control.c`、`command.c`、`motion.c`、`homing.c` | kinematics 类型如何影响 mode、home、限位、following error 和实际位置 | + +### 2.2 LinuxCNC 实际运动学实现族 + +下表是代码级实现族，不等同于配置数量。每个文件都要进入 manifest；同一算法的 `.c/.cc` 变体不能只保留一个目录状态。 + +| 族 | 实现文件 | 几何类别 | 典型配置入口 | +|---|---|---|---| +| 笛卡尔/映射 | `trivkins.c`、`maxkins.c`、`rotatekins.c` | 轴与关节同构、最大轴/旋转映射、identity/both 变体 | `axis/*.ini`、`qtaxis/xyz`、`gmoccapy/*axis*` | +| 耦合线性 | `corexykins.c`、`rosekins.c` | 线性关节耦合、双电机/特殊并联映射 | `axis/corexy/*`、`axis/rose_engine/*` | +| 泡沫/扩展轴 | `5axiskins.c`、`trivkins` 重复轴/extra joints | XYZ 与 UVW、旋转轴、非 kins extra joints | `axis/foam/*`、9 轴/extra-joints 配置 | +| 转台/摆头 | `trtfuncs.c`、`xyzac-trt-kins.c`、`xyzbc-trt-kins.c` | table-rotary-tilting、刀尖/偏置变换 | `axis/vismach/5axis/*`、`gmoccapy/non_trivial_kinematics/*` | +| Delta | `lineardeltakins.c/.cc`、`lineardeltakins-common.h` | 线性 Delta 正逆解、工作空间限制 | `axis/ldelta*`、`tklinuxcnc/ldelta.ini` | +| Rotary Delta | `rotarydeltakins.c/.cc`、`rotarydeltakins-common.h` | 旋转 Delta 几何 | `axis/rdelta.ini` | +| Tripod/并联 | `tripodkins.c` | 三腿并联、姿态分支 | `tklinuxcnc/tripod.ini` | +| Hexapod | `genhexkins.c`、`genhexkins.h` | 六杆并联、迭代正解、平台上下分支 | `axis/vismach/hexapod-sim/*` | +| Pentapod | `pentakins.c/.h` | 五杆并联、平台姿态和分支 | `axis/pentapod/*` | +| 通用串联机器人 | `genserkins.c`、`genserfuncs.c`、`genserkins.h` | DH 链、Jacobian、迭代逆/正解 | `qtaxis/non-trivial/scara` 及机器人样例 | +| SCARA | `scarakins.c` | 平面串联、腕部旋转、分支选择 | `axis/vismach/scara/*`、`qtvcp_screens/non-trivial/scara/*` | +| PUMA | `pumakins.c` | 6 轴串联、腕部奇异性和分支 | `axis/vismach/puma/*` | +| Scorbot | `scorbot-kins.c` | 机器人专用几何和姿态分支 | `configs/sim` 中 Scorbot/robot 资源 | +| 用户/示例 | `cubic.c/.h`、`userkfuncs.c`、`ugenserkins.c` | 用户参数和模板；不允许动态宿主插件 | 只在 manifest 明确登记后启用 | +| 切换容器 | `switchkins.c` | 多算法运行时切换 | SCARA、Hexapod 和含 switchkins 的配置 | + +除了 `KINEMATICS` 值，还要扫描 `HALFILE` 中的 `corexy_by_hal`、`xyzab_tdr_kins`、`loadrt` 和 GUI pin；这些可能在 HAL 或用户组件层实现变换。 + +### 2.4 K0-INV-01 闭合审计（2026-08-20） + +`coverage/kinematics-source-closure.report.json`（schema `v2`）是本节点的机器可读证据，并以当前 `context_id` 绑定到锁定来源。报告不只按文件名计数，而是把 source index、source-symbols、配置行和 HAL 行转成稳定 ID： + +| 审计面 | 结果 | 证据字段 | +|---|---:|---| +| `src/emc/kinematics` 全目录文件 | 38 个，其中 35 个 `.c/.cc/.h` 实现/头文件 | `source.files[*].source_id`、`extension`、`sha256` | +| `KINEMATICS=`（`.ini` 和 `.inc`） | 268 条 | `configuration.entries[*].config_id` | +| `loadrt`、HAL 变换、switchkins 控制 | 111 条；模板 `[KINS]KINEMATICS`、`corexy_by_hal`、`motion.switchkins-type` 分别保留 | `hal.entries[*].config_id`、`kind`、`family` | +| 实现族 | 11 族均有源码 ID 和配置候选映射 | `families[*].source_ids`、`configuration_ids` | +| 测试输入 | `tests/matrixkins` 6 个文件；`linuxcnc/unit_tests/kinematics` 缺失 | `tests.*`、`missing_required_test_roots` | +| FK/IK oracle | 11 族全部 `blocked` | `families[*].oracle.reason`、`closure.oracle_blocked_families` | + +缺失的官方测试根目录来自锁定提交本身；报告不会把 `tests/matrixkins/**` 改名或升级为 `unit_tests/kinematics/**`。`matrixkins` 仍作为 HAL 组件/配置入口候选登记，待契约变更或补充官方输入后才能产生 native FK/IK golden。2 个 TRT `.c` 文件在现有 source-symbols 报告中是 `indexed_empty`，不是静默丢失；其 source ID、哈希和待补符号状态均保留。 + +### 2.5 K0-INV-02 配置图与样本集（2026-08-20） + +`coverage/kinematics-config-graph.report.json` 将审计报告中的 262 个 `KINEMATICS` 条目和 111 个 HAL/切换条目展开为 373 个入口节点、1,491 个文件/族/资源节点和 2,774 条有向边。模板化 `loadrt [KINS]KINEMATICS` 的解析状态分为 `explicit_reference`、`directory_owner` 和 `inactive_reference`；后两类保留来源事实，但不能当作已启动配置。图的 `orphan_entry_ids` 和 `unowned_template_ids` 必须为空。 + +`coverage/kinematics-oracle-samples.jsonl` 为 11 个实现族各登记一个固定 `fk_ik_fk_roundtrip` 样本、候选配置、输入姿态/关节、容差和精确字段。样本当前全部 `blocked`，原因仍是锁定提交没有 `linuxcnc/unit_tests/kinematics/**`；`tests/matrixkins/test.ini` 只作为 `user_static` 的配置候选，未被提升为官方 oracle。只有补充/批准输入契约后，才允许把 `execution.status` 改为可运行并生成 native golden。 + +### 2.6 K0-ORACLE-01 runner/schema（2026-08-20） + +`scripts/generate_kinematics_oracle_report.py` 在固定 `PATH/HOME/LANG/LC_ALL/TZ/PYTHONHASHSEED` 环境中运行 `build-native/sim_kinematics_test` 作为 native smoke，并为 11 个样本输出 `coverage/kinematics-oracle.report.json`。`coverage/kinematics-golden-schema.json`（`linuxcnc-web-wasm/kinematics-golden.v1`）要求 `status/error_code/kinematics_type/branch_id/flags/current_tick/config_hash/axis_joint_mapping` 等字段；缺字段不会通过比较。当前 native smoke 为 `passed`，但 11 个样本均为 `blocked`，错误码为 `MISSING_OFFICIAL_ORACLE`，没有伪造数值 golden。 + +### 2.7 K1-CONTRACT-01 ABI contract（2026-08-20） + +`coverage/kinematics-abi-contract.json` 从 `sim_kinematics.h`、`wasm-core/CMakeLists.txt` 和固定数值策略生成。它锁定 ABI version 1、8 个公开函数、结果/类型/mode 枚举、3 个结构体字段列表、`SIM_KIN_ERR_*` 错误码、`-ffp-contract=off`/`-fno-fast-math`、非有限值拒绝、100000 最大迭代和 FNV-1a-64 state hash；缺失 Emscripten export 会使 contract `blocked`。当前 contract `verified`，native/WASM 构建及 8 个 CTest 均通过。 + +`coverage/kinematics-mapping-contract.json` 进一步锁定 ASCII case-fold、重复轴 first-wins、extra-joint 数量、home 零位、inclusive limits、forward/inverse 映射和 state hash 输入字段；`sim_kinematics_test` 已覆盖 `XYYZ`、越界和 home 样本。 + +`coverage/kinematics-numeric-policy.json` 固定 `-ffp-contract=off`、禁用 fast-math、角度单位、100000 迭代上限、1e-12 奇异阈值、1e-9 golden 容差和 exact 字段；NaN/Inf、负容差、超迭代、奇异和越界都列入边界矩阵。 + +### 2.3 当前 WASM 雏形的真实边界 + +当前 `wasm-core/include/sim_kinematics.h`/`sim_kinematics.c` 只能作为 K1 之前的实验切片，不能作为完整实现证据： + +| 已存在 | 尚未闭合 | +|---|---| +| `trivkins`、`XYZAC-TRT`、`XYZBC-TRT`、`XYZBCW` 的有限正逆解和基础 joint limit 检查 | LinuxCNC 全部实现族：CoreXY、Rose、5axiskins 完整模式、Delta/RotaryDelta、Tripod、Hexapod、Pentapod、GenSer、SCARA、PUMA、Scorbot、switchkins 和用户静态扩展 | +| 基础 `coordinates` 字符串和重复关节填充 | `KINEMATICS_TYPE` 四种语义、extra joints、完整轴 bitmap、world/joint mode 约束和 home 语义 | +| 有限性检查、少量奇异性检查和 FNV 状态 hash | `fflags/iflags` 分支状态、last-pose/seed、residual、iterations、branch_id、确定性迭代策略和恢复字段 | +| C API 单元样例 | LinuxCNC native FK/IK oracle、每个配置入口的 golden、HAL 实现等价性和 UI/Vismach 姿态证据 | + +另外，现有 `sim_kinematics.c` 尚未加入 `wasm-core/CMakeLists.txt` 的 `sim_core`/Emscripten module，`sim_kinematics_test.c` 也未进入 CTest；因此当前 `ctest` 的 7/7 通过不包含运动学验证。K1 的第一项集成工作必须先修复构建和测试注册，再谈算法族扩展。 + +因此 K0/K1 不能只围绕现有 `sim_kinematics_*` 函数补测试；必须先完成统一契约，再按 K2-K5 族逐步替换或扩展实现。现有切片的错误码和字段若与统一 ABI 冲突，应通过版本化契约迁移，不得在旧 ABI 上堆叠不可兼容的类型。 + +## 3. 统一运动学契约 + +### 3.1 输入、输出和状态 + +WASM 内部使用固定宽度、明确大小的结构，TypeScript 不接触 C 结构体布局。逻辑契约如下： + +```text +KinematicsRequest { + kind: FORWARD | INVERSE | HOME | CHECK + joints[N] / pose{ x,y,z,a,b,c,u,v,w } + fflags: uint64 + iflags: uint64 + seed_pose: optional pose # 迭代正解初值 + config_hash: bytes32 + simulation_tick: uint64 +} + +KinematicsResult { + status: OK | INVALID_INPUT | OUT_OF_RANGE | SINGULAR | NO_SOLUTION | + NOT_CONVERGED | UNSUPPORTED | NUMERIC_ERROR + joints[N] / pose + fflags: uint64 + iflags: uint64 + residual: float64 + iterations: uint32 + branch_id: uint32 + state_hash: bytes32 +} +``` + +必须固定以下语义： + +1. `forward(joints)` 返回世界 pose，并更新适用的 `iflags`；`inverse(pose)` 返回关节，并更新适用的 `fflags`。 +2. flags 是会话状态的一部分，必须进入快照、golden 和恢复账本；不能每次调用清零来掩盖分支变化。 +3. `home()` 产生已知的世界 pose、joint 和 flags；不能只把所有关节设为零。 +4. `KINEMATICS_FORWARD_ONLY`、`INVERSE_ONLY` 的 mode 转换限制要与 LinuxCNC 一致；不支持的调用返回 `UNSUPPORTED`，不能返回伪造 pose。 +5. 所有输入输出先检查有限性、维数、单位和配置 hash；NaN/Inf、数组越界、未知轴字母和未知类型在进入算法前拒绝。 + +### 3.2 坐标、关节和 extra joints + +`coordinates` 解析为轴索引到 joint 编号的稳定映射，并记录重复轴 bitmap。运动学 joint 数量与 `EMCMOT_MAX_JOINTS`、`NO_OF_KINS_JOINTS`、extra joints 的边界必须分开表示： + +- kinematics 只接收前 `NO_OF_KINS_JOINTS` 个关节；extra joints 由 motion/Task 管理，不得误传给算法。 +- `XYYZ`、`XYZY` 等重复坐标必须在配置加载时生成映射 golden，并在 joint/world 模式切换时复用。 +- 旋转轴的角度单位、绕轴方向、回绕策略和连续性要逐类型登记；不能用统一的线性限位代码代替。 +- UI 显示的 axis pose、joint pose、commanded/actual pose 必须注明坐标系和来源 tick。 + +### 3.3 正逆解数值策略 + +解析解与迭代解使用同一个数值政策： + +- Emscripten/native 固定编译选项、舍入模式和 `sin/cos/sqrt/atan2` 包装；算法不得调用墙钟或未锁定随机数。 +- 解析算法返回工作空间、关节限位、姿态范围和分支错误，而不是将超界结果钳位后返回 `OK`。 +- 迭代算法固定初值来源、最大迭代次数、收敛残差、步长/阻尼、奇异阈值和失败码；每次结果记录 `iterations/residual/branch_id`。 +- 对正逆解只使用定义好的几何容差；状态、分支、错误码和事件顺序必须精确一致。 +- 迭代正解（Hexapod、通用串联等）在相邻 tick 使用上一次有效 pose，但恢复后必须从 checkpoint 中恢复该 seed。 + +## 4. 按算法族的实施要求 + +### 4.1 笛卡尔和耦合线性族 + +先完成 `trivkins` 的 identity/both/inverse-only/forward-only、坐标重复映射和 max/rotate 变体，再完成 `corexykins`、`rosekins` 的矩阵映射。每一类需要： + +- 正逆解矩阵和符号方向的单元向量测试； +- 重复轴、extra joints、关节限位、回零和 joint/world 模式测试； +- HAL 实现的 `corexy_by_hal` 与 kinematics 模块实现的对照，证明同一轨迹在两条链上等价； +- 快速/1x/暂停恢复后的关节和世界 pose hash 一致。 + +当前 K2 耦合切片已完成 CoreXY、Rose、MaxKins 和 RotateKins 的统一实现。CoreXY 复现 LinuxCNC 的半和/半差公式，并分别登记 `corexy_by_kins.ini` 与 `corexy_by_hal.ini`，HAL 组件路径保持为独立入口；Rose inverse 保存上一象限和累计圈数，跨 2→3 象限得到连续角度和稳定 branch；MaxKins 保留 pivot/B/C/U/V/W 修正公式并覆盖真实 `max5kins.ini` 的 `pivot-length=0`；RotateKins 覆盖负 C 旋转方向和 90°边界。锁定 LinuxCNC 没有 shipped 的 rotatekins `.ini`，因此新增的 `linuxcnc/configs/sim/axis/rotate/rotatekins.ini` 明确标为 workspace-derived fixture，不冒充官方配置或 oracle。`coverage/coupled-kinematics.report.json` 使用相同样本运行 native 与 WASM，并比较规范化 JSON 和 state hash；由于 `linuxcnc/unit_tests/kinematics` 不在锁定源中，报告状态仍为 partial/blocked，不生成伪造官方 golden。 + +`K2-HAL-01` 已在同一契约上接入静态 `corexy_by_hal`。SimHAL 注册组件的 8 个 float pin 和 servo-thread function，周期内执行 `.comp` 的 `alpha/beta` 命令矩阵与 `j0/j1` 反馈矩阵；HAL 配置中的 `j0home/j1home` 路由在变换前保留 Cartesian home 语义，并与 `corexykins` 的 motor-joint home 明确区分。`coverage/corexy-hal.report.json` 对配置连接、公式、native/WASM 输出和 oracle 阻塞状态做确定性检查；完整 HAL 命令解析、其它组件和真实 unit-test oracle 仍属于后续节点。 + +`K3-5AXIS-01` 已接入 `5axiskins` 的 XYZBCW spherical pivot 链。真实 `bridgemill/5axis.ini` 使用 `coordinates=xyzbcwy` 和七个 joints，重复 Y 由 first-wins 映射并在 inverse 后同步 suffix；pivot length 250、B/C 角度和 W 工具运动均进入 FK/IK 与 state hash。缺少 XYZBCW 任一必需字母返回 configuration error；`coverage/fiveaxis-kinematics.report.json` 对配置、源公式、重复轴、边界和 native/WASM 样本做确定性记录，官方 unit-test oracle 仍 blocked。 + +`K3-TRT-01` 已接入 `xyzac-trt-kins` 与 `xyzbc-trt-kins` 共用的 `trtfuncs.c` 姿态链。`table-rotary-tilting/xyzac-trt.ini` 与 `xyzbc-trt.ini` 的 `sparm=identityfirst`、五关节、tool/offset HAL pins 均登记；XYZAC 保持 C→A 顺序，XYZBC 保持 C→B 顺序，offset 与 tool length 进入固定解析式。B=90 的配置边界显式返回 singular，native/WASM 样本和 hash 见 `coverage/trt-kinematics.report.json`；switchkins 运行时切换容器留到 K5，不在本节点伪装完成。 + +`K3-ROBOT-01` 已接入 SCARA、PUMA 和 Scorbot 专用解析式。SCARA 使用 D1-D6、C 总姿态和 elbow 分支；PUMA 使用 A2/A3/D3/D4/D6、完整旋转矩阵/RPY 转换以及 shoulder/elbow/wrist 分支和 wrist singular 检查；Scorbot 使用固定 L0/L1/L2 链和受控点 RZ 逆解。SCARA 与 PUMA 取自 shipped Vismach 配置，Scorbot 因锁定源没有 shipped INI 使用明确标注的 workspace-derived fixture。PUMA 等复杂三角函数的 native/WASM state hash 在 `1e-9` golden 容差上规范化，避免后端 libm 末位差异成为伪状态分叉；所有不可达/奇异边界和官方 oracle 状态见 `coverage/robot-kinematics.report.json`。 + +`K3-GENSER-01` 已接入六关节 Craig DH 链和固定零初值的阻尼数值 Jacobian inverse。DH `A/ALPHA/D` 数组、alpha 弧度与 joint 度数转换、有限差分步长、阻尼、最大迭代次数、residual 和不收敛错误均进入配置/报告；melfa 与 puma560 的真实 `genserkins` 配置作为候选，样本在 native/WASM 逐字一致。此节点不把动态 `switchkins` 或用户库放行到浏览器，官方 unit-test oracle 仍 blocked，详见 `coverage/genser-kinematics.report.json`。 + +`K4-DELTA-01` 已接入 linear/rotary Delta 的统一 forward/inverse/mapping 路径。线性 Delta 使用锁定 `lineardeltakins-common.h` 的 120 度塔架与杆长解析二次式；旋转 Delta 使用锁定 `rotarydeltakins-common.h` 的平台/大腿/小腿/足端几何。两者均固定 XYZ 到前三个 kinematics joints 的映射，A/B/C/U/V/W 透传，额外 joints 不进入算法；默认根保持 LinuxCNC 的平台根，`SIM_KIN_DELTA_ALTERNATE_ROOT` bit 0 使 alternate root、`branch_id` 和 state hash 可观察。真实 `ldelta.ini`、`ldelta_demo.ini`、`tklinuxcnc/ldelta.ini`、`rdelta.ini` 均登记；nominal/alternate root、工作空间无解、关节限位和 rotary `z=0` 奇异边界在 native/WASM 逐字对照。配置引用的 HAL 文件在锁定工作区缺失，作为 resource gap 保留，不能升级为配置 smoke 或数值 golden；官方 `linuxcnc/unit_tests/kinematics/**` 同样缺失，全部 Delta oracle 明确 blocked，详见 `coverage/delta-kinematics.report.json`。 + +### 4.2 5 轴转台/摆头族 + +`5axiskins`、`xyzac-trt-kins`、`xyzbc-trt-kins` 必须共享但不能混用各自的旋转顺序、刀尖点和 offset 语义。验收至少包括： + +- A/B/C 旋转顺序、正负方向、角度单位和回绕； +- table-rotary 与 tool-rotary 的姿态链； +- `identityfirst` 参数、刀长/刀尖偏置、G43/G43.1/G49 与逆解； +- 旋转轴接近 0/180/360 度、万向节/姿态奇异和无解报警； +- impeller、table-rotary-tilting、dual-rotary 的真实 `configs/sim` 入口和 Vismach 姿态。 + +### 4.3 Delta、Tripod、Hexapod、Pentapod + +并联机构不能只测“一个可达姿态”。每种机构需要工作空间边界、腿长/关节范围、平台上下分支、奇异面和迭代初值测试： + +- Delta：塔架几何、臂长、平台平移边界、负根/无根和线性/旋转变体； +- Tripod：三腿约束、姿态分支、回零和连续轨迹； +- Hexapod：六杆长度、平台上下姿态、迭代正解、last-pose 和 GUI pins； +- Pentapod：五杆约束、平台姿态、不可达/奇异区域和 `pentapod.var` 参数。 + +每次迭代必须输出 residual 和迭代次数。相同 seed、输入和 tick 必须得到相同分支；越过分支边界时要产生可解释的 `SINGULAR` 或 `NO_SOLUTION` 事件，不能突然跳姿态。 + +### 4.4 通用串联机器人族 + +`genserkins` 以 DH 链、Jacobian 和迭代求解为核心；`scarakins`、`pumakins`、`scorbot-kins` 是专用参数化实现。实施顺序： + +1. 统一 link 参数、角度单位、joint offset、正方向和关节范围。 +2. 先用 FK 生成 pose oracle，再用 FK→IK→FK round-trip 验证每一个分支。 +3. 对 Jacobian 条件数、阻尼、步长、初值和最大迭代建立配置字段，全部进入快照。 +4. 覆盖 elbow-up/down、腕部翻转、SCARA 平面无解、PUMA wrist singularity 和 Scorbot 专用姿态。 +5. UI 轨迹显示必须消费 kinematics 输出的姿态，不能用线性 axis 拼接替代机器人 FK。 + +### 4.5 Switchkins 和用户扩展 + +`switchkins` 不是动态加载的放行口，而是静态注册的最多三种实现容器。每个 `switchkins_type` 必须有： + +- 类型、坐标要求、最大 joint 数、是否允许重复轴、是否迭代正解的 manifest； +- 切换前后同步点、flags/lastpose 初始化和 GUI pin； +- 非法类型、缺失实现、切换中运动、恢复后重建和回滚测试。 + +`userkfuncs`、`ugenserkins` 和 `.so/.so` 类宿主动态模块不能直接加载。可移植用户运动学必须在构建期编译为静态 WASM 模块，提供相同 ABI、版本和 capability；不满足时返回 `UNSUPPORTED_USER_KINS` 并阻断配置启动。 + +## 5. 运动学主线任务和里程碑 + +M0/M1 的基线和会话骨架保持不变；从原 `M2-CORE-04` 起，采用以下 K 系列主线。K 系列任务完成后才能解锁对应的 M3/M4 工作流。 + +| 里程碑 | 任务 | 结果 | 依赖 | 退出门槛 | +|---|---|---|---|---| +| K0 清单与 oracle | `K0-INV-01` 源文件/符号索引；`K0-INV-02` 配置入口图；`K0-ORACLE-01` native FK/IK/golden schema | 完整类型、参数和配置清单 | M0 | 所有 kinematics 文件和入口有 source/feature/test/oracle；缺失输入显式 blocked | +| K1 ABI 与数值 | `K1-CONTRACT-01` C ABI；`K1-CONTRACT-02` flags/pose/映射；`K1-NUM-01` 浮点/迭代政策 | `sim_kinematics.h`、错误码、状态 hash | K0、M1 | 同输入三次字节和 hash 一致；非法/NaN/Inf/越界全有测试 | +| K2 笛卡尔/耦合 | `K2-TRIV-01` trivkins 全类型；`K2-TRIV-02` 重复轴/extra joints；`K2-COUPLED-01` corexy/rose/max/rotate；`K2-HAL-01` HAL 等价链 | identity、both、耦合线性运动学 | K1 | 轴/关节模式、home、限位、HAL 和恢复 golden 全绿 | +| K3 5 轴串联 | `K3-5AXIS-01` 5axiskins；`K3-TRT-01` xyzac/xyzbc/trt；`K3-ROBOT-01` SCARA/PUMA/Scorbot；`K3-GENSER-01` DH/Jacobian | 5 轴、转台/摆头和串联机器人 | K2、posemath | FK/IK round-trip、分支、奇异、刀尖/刀长和真实配置入口通过 | +| 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 | +| 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-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。 + +## 6. 运动学测试矩阵 + +每个实现族至少有以下测试层；参数和样本由 K0 清单生成，不允许只挑“容易收敛”的点： + +| 层 | 样本 | 必测内容 | +|---|---|---| +| 纯函数 | 合法 pose/joint、边界、随机种子固定的网格 | FK、IK、FK→IK→FK、IK→FK→IK、flags 和 residual | +| 几何边界 | 轴/关节最小最大、工作空间边缘、旋转回绕 | limit、无解、奇异、分支连续性 | +| 配置 | 每个非 trivkins `configs/sim` 入口及所有 `trivkins` 变体 | 参数、坐标、HALFILE、tool/var、资源图和启动错误 | +| 运动 | G0/G1/G2/G3、5 轴刀尖、jog、home、暂停、abort | TP→IK→motion、反馈、following error、最终姿态 | +| 故障 | 探针、限位、主轴/换刀、迭代不收敛、Python 异常 | 报警、停止、恢复、状态 hash 和事件顺序 | +| 持久化 | checkpoint、journal、刷新、Worker 重启、离线 | flags、lastpose、seed、工具和姿态恢复一致 | +| 浏览器 | Chromium/Firefox/Safari 计划矩阵、窄屏/触摸 | 3D 非空、姿态无跳变、背压、错误可见 | + +### 6.1 Golden 和容差 + +native runner 为每个样本保存输入 hash、配置 hash、算法版本、pose/joint、flags、residual、iterations、branch、错误和最终 state hash。WASM 只允许在已登记的浮点字段使用容差；以下字段必须精确： + +```text +status / error_code / kinematics_type / branch_id +flags / current_tick / event_order / config_hash +axis-to-joint mapping / home result presence / state transition +``` + +差异报告必须包含首个 divergent tick、字段路径、原生值、WASM 值、容差、source_id 和可重放命令。迭代不收敛不得被提高最大迭代次数或放宽容差“修绿”；应记录算法参数和失败原因。 + +## 7. 与整体仿真机床的接合顺序 + +运动学主线不是独立库，接合顺序固定如下： + +1. K1 ABI 完成后，`sim_motion` 只通过 `KinematicsRegistry` 调用，不再硬编码 trivkins。 +2. K2 完成后，解释器/TP 的 canonical 轨迹接入 axis/joint 变换，HAL 反馈接入 FK。 +3. K3/K4 完成后，数字孪生为每种机床提供真实 joint/pose 反馈、限位、回零和故障；Vismach/Three.js 使用同一 FK 结果。 +4. K5 完成后，Python/remap/VCP 获得只读 kinematics 状态和受控切换命令；切换必须经过 Task 同步点。 +5. K6 完成后，OPFS checkpoint 保存 kinematics type、参数、flags、lastpose、seed 和 joint/pose 状态。 +6. K7 完成后，UI 同时显示世界坐标、关节坐标、机床姿态、刀尖和限制原因；不能把 axis 数值当成所有机床的刀具姿态。 + +## 8. 当前执行和停止线 + +当前 `M2-CORE-04` 的 `unit_tests/kinematics/**` 缺失仍然是 K0 的输入审计事项，不自动改成实现任务。立即顺序为： + +1. `K0-INV-01` 确认锁定提交的 kinematics 文件、符号和测试路径，生成缺失输入报告。 +2. `K0-INV-02` 从 `configs/sim`、`tests/matrixkins` 和实际 kinematics 配置生成入口图；这些可以作为配置 oracle，但不能冒充缺失的官方 unit test。 +3. `K0-ORACLE-01` 在原生 runner 中建立 FK/IK JSONL schema 和最小 trivkins/corexy/非平凡样本。 +4. 经审查决定是否创建新的输入契约/context lock；未决定前保持 blocked，不跳到 HAL 节点。 +5. K1 ABI 和数值政策完成后，再按 K2→K5 算法族推进；K6 以前不开放全量 UI 运动学声明。 + +以下条件必须停止并回到对应里程碑：输入源或配置入口遗漏；正逆解首次差异未定位；分支/flags/lastpose 未进入快照；算法依赖墙钟或随机数；用伪造 pose、钳位越界值、放宽容差或刷新重建掩盖失败；用户运动学需要未登记的动态宿主库。 + +完成 K8 后，运动学才能从“核心切片”升级为“仿真机床完整能力”，并作为整个 LinuxCNC Web/WASM 发布的必要条件。 diff --git a/docs/linuxcnc-web-wasm-simulation-coverage.md b/docs/linuxcnc-web-wasm-simulation-coverage.md index f5431ef..06e0f50 100644 --- a/docs/linuxcnc-web-wasm-simulation-coverage.md +++ b/docs/linuxcnc-web-wasm-simulation-coverage.md @@ -151,7 +151,7 @@ | 补偿 | cutter radius、tool length、dynamic tool length、additional tool offset、wear、螺距误差 | `SIM-CORE` | | 主轴同步 | threading、G33/G33.1、rigid tapping、CSS、gear、orient、multiple spindle | `SIM-DEVICE` | | 控制环 | PID、feed/velocity/position loop、encoder、stepgen、adaptive feed | `SIM-CORE` | -| 运动学模块 | `trivkins`、`5axiskins`、`corexykins`、`cubic`、`genhexkins`、`genserkins`、`lineardelta`、`maxkins`、`pentakins`、`rosekins`、`rotarydelta`、`rotatekins`、`scarakins`、`scorbot`、`tripod`、`xyzac-trt`、`xyzbc-trt`、`switchkins`、`ugenser/userkfuncs` | `SIM-CORE` | +| 运动学模块 | `trivkins`、`5axiskins`、`corexykins`、`cubic`、`genhexkins`、`genserkins`、`lineardelta`、`maxkins`、`pentakins`、`rosekins`、`rotarydelta`、`rotatekins`、`scarakins`、`scorbot`、`tripod`、`xyzac-trt`、`xyzbc-trt`、`switchkins`、`ugenser/userkfuncs` | `SIM-CORE`；实现族、正逆解、分支/奇异性和 K0-K8 门禁见[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md) | | DH/机器人 | DH 参数、PUMA、SCARA、六足、Delta、Pentapod、Scorbot 和自定义静态 kinematics | `SIM-CORE` | | 用户 kinematics | 构建期静态 WASM ABI、热切换由仿真状态机完成 | `SIM-ADAPTER` | | 坐标/姿态显示 | joints、axes、pose、forward/inverse、tool orientation 和 singularity 错误 | `WEB-EQUIV` | diff --git a/docs/linuxcnc-web-wasm-source-map.md b/docs/linuxcnc-web-wasm-source-map.md index 6411c1a..e972528 100644 --- a/docs/linuxcnc-web-wasm-source-map.md +++ b/docs/linuxcnc-web-wasm-source-map.md @@ -44,7 +44,7 @@ | Worker 协议与固定 tick 边界 | `wasm-core/include/sim_protocol.h`、`wasm-core/src/sim_protocol.c`、`web/worker/sim-session.mjs`、`web/worker/sim-worker.mjs` | 版本化 envelope、单调 seq/tick、会话状态机和错误映射；WASM 核心只暴露受控 C ABI | `wasm-core/tests/sim_protocol_test.c`、`web/worker/test_wasm_session.mjs`、`scripts/test_protocol.py` | | RTAPI、OS 接口和时钟 | `linuxcnc/src/rtapi/**`；`linuxcnc/src/libnml/os_intf/timer.cc`、`_timer.c`、`sem.cc`、`shm.cc`；`linuxcnc/src/emc/linuxcnc.h` | 固定逻辑时钟、虚拟同步原语和受控内存；内核实时、CPU 绑定和设备访问标记为 `REAL-EXCLUDED` | `linuxcnc/tests/lowlevel/**`、`linuxcnc/tests/rtapi-shmem/**`（可移植部分） | | Motion、回零和限位 | `linuxcnc/src/emc/motion/motion.c`、`control.c`、`command.c`、`homing.c`、`emcmotglb.c`、`emcmotutil.c`、`simple_tp.c`、`motion_struct.h`、`homing.h` | `sim_motion` 状态机；虚拟编码器、开关、跟随误差和故障注入 | `linuxcnc/tests/hard-limits/**`、`linuxcnc/tests/abort/**`、`linuxcnc/tests/limit3/**` | -| Kinematics | `linuxcnc/src/emc/kinematics/*kins.c`、`*kins.cc`、`kins_util.c`、`genserfuncs.c`、`trtfuncs.c`、`switchkins.c`；关键文件包括 `trivkins.c`、`5axiskins.c`、`genhexkins.c`、`genserkins.c`、`lineardeltakins.c`、`rotarydeltakins.c`、`corexykins.c`、`xyzac-trt-kins.c`、`xyzbc-trt-kins.c` | 静态 WASM 模块和 manifest 注册；不使用宿主动态库 | `linuxcnc/configs/sim/axis/gantry/**`、`linuxcnc/configs/sim/axis/foam/**`、`linuxcnc/configs/sim/axis/ldelta*`、机器人样例；运动学单测 | +| Kinematics | `linuxcnc/src/emc/kinematics/*kins.c`、`*kins.cc`、`kins_util.c`、`genserfuncs.c`、`trtfuncs.c`、`switchkins.c`；关键文件包括 `trivkins.c`、`5axiskins.c`、`genhexkins.c`、`genserkins.c`、`lineardeltakins.c`、`rotarydeltakins.c`、`corexykins.c`、`xyzac-trt-kins.c`、`xyzbc-trt-kins.c` | 静态 WASM 模块和 manifest 注册；不使用宿主动态库；按[K0-K8 运动学主线](linuxcnc-web-wasm-kinematics-migration-plan.md)闭合正逆解、flags、分支、奇异性和恢复 | `linuxcnc/configs/sim/axis/gantry/**`、`linuxcnc/configs/sim/axis/foam/**`、`linuxcnc/configs/sim/axis/ldelta*`、机器人样例；运动学单测和 native FK/IK golden | | Posemath 和几何 | `linuxcnc/src/libnml/posemath/posemath.cc`、`posemath.h`、`gomath.c`、`gomath.h`、`sincos.c`、`gotypes.h` | 原样编译或等价 ABI；固定浮点编译选项 | posemath 相关单测、TP/kinematics golden | | Tooldata、工具表和数据库 | `linuxcnc/src/emc/tooldata/tooldata_common.cc`、`tooldata_nml.cc`、`tooldata_db.cc`、`tooldata_mmap.cc`、`tool_mmap_read.cc`、`tooldata.hh` | 内存工具服务 + OPFS 事务；兼容 pocket、offset、wear 和数据库迁移 | `linuxcnc/tests/mdi-queue/**`、`linuxcnc/configs/sim/**/*.tbl` | | IO、换刀、主轴和冷却 | `linuxcnc/src/emc/iotask/ioControl.cc`、`ioControl_v2.cc`；`linuxcnc/src/emc/tooldata/**` | 虚拟 IO、主轴、换刀、探针和故障模型；真实协议排除 | `linuxcnc/configs/sim/axis/iocontrolv2/**`、`linuxcnc/configs/sim/axis/lathe_multispindle/**`、换刀测试 | diff --git a/docs/linuxcnc-web-wasm-technical-roadmap.md b/docs/linuxcnc-web-wasm-technical-roadmap.md index cd4cde4..3603896 100644 --- a/docs/linuxcnc-web-wasm-technical-roadmap.md +++ b/docs/linuxcnc-web-wasm-technical-roadmap.md @@ -6,12 +6,14 @@ **范围**：只做仿真，不连接真实机床，不通过网络控制硬件 **兼容目标**：以 LinuxCNC 仿真模式为行为基线，覆盖全部仿真功能并给出浏览器内等价实现 **执行治理**：[项目执行与交付策略](linuxcnc-web-wasm-execution-strategy.md) +**完整实施蓝图**：[完整仿真机床实施蓝图](linuxcnc-web-wasm-full-port-implementation.md) +**运动学主线**：[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md) **逐项验收**：[仿真全功能覆盖矩阵](linuxcnc-web-wasm-simulation-coverage.md) **源码关联**：[仿真功能与源程序关联目录](linuxcnc-web-wasm-source-map.md) **前端与通信**：[前端与 LinuxCNC 通信详细设计](linuxcnc-web-wasm-frontend-communication-design.md) **总控执行**：[仿真移植总控执行手册](linuxcnc-web-wasm-integration-playbook.md) -本路线定义架构、范围、风险和阶段 A-E；任务上下文预算、提交格式、断网接续、里程碑退出条件和发布门禁统一由[项目执行与交付策略](linuxcnc-web-wasm-execution-strategy.md)约束；功能到 LinuxCNC 实际源文件、配置和测试的关联以[源程序关联目录](linuxcnc-web-wasm-source-map.md)为入口；浏览器 UI、Worker 协议、状态契约、前端任务和 FE-M0..M5 里程碑以[前端与通信详细设计](linuxcnc-web-wasm-frontend-communication-design.md)为准；端到端依赖、任务目录、场景验收和当前实施状态以[总控执行手册](linuxcnc-web-wasm-integration-playbook.md)为准。 +本路线定义架构、范围、风险和阶段 A-E；具体启动状态机、固定 tick 顺序、资源闭包和阶段产物以[完整仿真机床实施蓝图](linuxcnc-web-wasm-full-port-implementation.md)为准；任务上下文预算、提交格式、断网接续、里程碑退出条件和发布门禁统一由[项目执行与交付策略](linuxcnc-web-wasm-execution-strategy.md)约束；功能到 LinuxCNC 实际源文件、配置和测试的关联以[源程序关联目录](linuxcnc-web-wasm-source-map.md)为入口；浏览器 UI、Worker 协议、状态契约、前端任务和 FE-M0..M5 里程碑以[前端与通信详细设计](linuxcnc-web-wasm-frontend-communication-design.md)为准；端到端依赖、任务目录、场景验收和当前实施状态以[总控执行手册](linuxcnc-web-wasm-integration-playbook.md)为准。 ## 1. 摘要 @@ -413,7 +415,7 @@ cmake --build build-wasm ## 9. 分阶段实施路线 -本节的阶段 A-E 映射到执行策略中的 M0-M5；阶段退出条件、任务边界和返工规则以[项目执行与交付策略](linuxcnc-web-wasm-execution-strategy.md)第 4、6、7 节为准。 +本节的阶段 A-E 映射到执行策略中的 M0-M5；其中阶段 B 的运动学具体拆分为 K0-K8，阶段退出条件、任务边界和返工规则以[项目执行与交付策略](linuxcnc-web-wasm-execution-strategy.md)第 4、6、7 节和[运动学完整移植计划](linuxcnc-web-wasm-kinematics-migration-plan.md)为准。 ### 阶段 A：全量清单和运行时骨架 @@ -424,7 +426,7 @@ cmake --build build-wasm ### 阶段 B：核心解释和运动全覆盖 -- 移植全部 G/M/O、remap、参数、坐标系、补偿、TP、motion 和全部内置 kinematics。 +- 移植全部 G/M/O、remap、参数、坐标系、补偿、TP、motion 和全部内置 kinematics；运动学必须按 K0 来源/oracle、K1 ABI、K2 笛卡尔耦合、K3 5 轴/串联、K4 并联、K5 switch/user、K6 运动集成顺序推进。 - 完成 mill、lathe、gantry、robot、delta、pentapod、foam、plasma、laser 和 probe 虚拟机床模型。 ### 阶段 C：HAL、PLC、IO 和虚拟机床部件 diff --git a/docs/task-history.md b/docs/task-history.md new file mode 100644 index 0000000..2402628 --- /dev/null +++ b/docs/task-history.md @@ -0,0 +1,46 @@ +# 任务证据索引 + +本文件是按需读取的历史索引，不是启动上下文。完整日志和大型 JSONL 产物只通过路径、大小和 SHA-256 追溯；不要把它们复制回 `nextTask.md` 或新的 context packet。 + +当前指针：`nextTask.md`；当前 context：`linuxcnc-2.10.0-pre0-wasm-m1-py-c1`（与 `context-lock.json` 一致）。 + +## 已验证节点 + +| 节点 | 结果摘要 | 主要产物 | +|---|---|---| +| `BOOTSTRAP-M0-01` | 基线、下载索引、ABI bootstrap 和上下文包测试通过 | `coverage/source-index.jsonl`, `coverage/manifest.jsonl` | +| `INV-01a..d` | 文档能力、源码符号、配置资源、测试入口索引确定性生成 | `coverage/document-capabilities.jsonl`, `coverage/source-symbols.jsonl`, `coverage/config-resources.jsonl`, `coverage/test-entries.jsonl` | +| `INV-02a..b` | 规范化 source ID、依赖闭包和 unresolved/orphan 报告生成 | `coverage/normalized-sources.jsonl`, `coverage/dependency-closure.jsonl` | +| `INV-03a` | native runner、golden schema 和严格 oracle 通过 | `scripts/native_runner.py`, `coverage/golden-schema.json` | +| `M1-CORE-01` | 最小 protocol、Worker session 和真实 WASM smoke 通过 | `wasm-core/src/sim_protocol.c`, `web/worker/sim-session.mjs` | +| `M1-CORE-02` | 事件容量、回放、快照完整性和序列约束通过 | `wasm-core/src/sim_event.c`, `web/worker/replay.mjs` | +| `M1-FS-01` | workspace journal/recovery prepare/commit/abort 和损坏记录阻断通过 | `web/workspace/journal.mjs`, `web/workspace/recovery.mjs` | +| `M1-RT-01` | runtime error/capability mapping fail-closed 通过 | `web/worker/error-map.mjs`, `web/worker/capabilities.mjs` | +| `M1-RT-02` | 当前最近验证点；报告和脚本单测通过 | `coverage/runtime-mapping.report.json` | +| `M2-CORE-01` | posemath/TP adapter、固定浮点、segment error boundary 和 state hash 通过 | `coverage/posemath-runtime.report.json` | +| `M2-CORE-02` | 固定 ASCII 数值解析、G/M 模态、canonical 输出和失败边界通过 | `coverage/interpreter-runtime.report.json` | +| `M2-CORE-03` | 固定容量 motion queue、连续性、fixed tick 和 canonical state 通过 | `coverage/motion-runtime.report.json` | +| `M2-CORE-04` | blocked：锁定任务声明的 `linuxcnc/unit_tests/kinematics/**` 不存在 | `nextTask.md` | +| `K0-INV-01` | 35 个实现/头文件、262 个去重 KINEMATICS 入口、111 个 HAL/切换入口和 11 个实现族已登记；所有族因官方 unit-test 根缺失显式 blocked | `coverage/kinematics-source-closure.report.json` | +| `K0-INV-02` | 262 个去重后的 KINEMATICS 条目与 111 个 HAL/切换条目闭合为 373 个入口节点、2,774 条边；11 个固定 FK/IK 样本定义全部保留 blocked | `coverage/kinematics-config-graph.report.json`, `coverage/kinematics-oracle-samples.jsonl` | +| `K0-ORACLE-01` | native kinematics smoke 通过；11 个样本严格按 golden schema 输出并因缺失官方 oracle 全部 blocked，无伪造 golden | `coverage/kinematics-oracle.report.json`, `coverage/kinematics-golden-schema.json` | +| `K1-CONTRACT-01` | sim_kinematics ABI、错误码、结构体、导出集合和数值策略生成 contract 并验证；native/WASM/CTest 通过 | `coverage/kinematics-abi-contract.json` | +| `K1-CONTRACT-02` | flags、pose、duplicate-axis、home、limits、axis-to-joint mapping 和 state hash 行为已登记并由 native CTest 覆盖 | `coverage/kinematics-mapping-contract.json` | +| `K1-NUM-01` | 浮点编译、角度单位、迭代上限、容差、exact 字段和六类边界错误已固定 | `coverage/kinematics-numeric-policy.json` | +| `K2-TRIV-01` | trivkins 四种 mode、coordinates case-fold、XYZ/XYZABCUVW、重复轴和 extra-joint 行为已接入现有 slice；245 个真实配置候选已映射，官方 oracle 仍 blocked | `coverage/trivkins-integration.report.json` | +| `K2-TRIV-02` | 明确并实现 kinematics joint 前缀与 extra-joint 分离；重复轴 first-wins、joint_count mismatch、home、limit、state hash native/WASM 回归通过 | `coverage/kinematics-mapping-contract.json`, `wasm-core/tests/sim_kinematics_test.c` | +| `K2-COUPLED-01` | CoreXY、Rose、MaxKins、RotateKins 统一接入；三项 shipped 配置加一个明确标注的 rotatekins 工作区派生候选、FK/IK round-trip、CoreXY HAL/kins 入口区分、Rose quadrant/revolution continuity、Max pivot 和 Rotate 90°边界、native/WASM JSON 与 state hash 对照通过；官方 oracle 继续显式 blocked | `coverage/coupled-kinematics.report.json`, `wasm-core/src/sim_kinematics.c` | +| `K2-HAL-01` | 静态 `corexy_by_hal` 注册到 SimHAL；命令/反馈 8-pin 矩阵、servo tick 调度、alpha/beta 方向、Cartesian home 信号与 `corexykins` 入口区别由 native/WASM 对照通过；官方 oracle 继续显式 blocked | `coverage/corexy-hal.report.json`, `coverage/hal-runtime.report.json`, `wasm-core/src/sim_hal.c` | +| `K3-5AXIS-01` | `5axiskins` 接入统一 XYZBCW spherical pivot 变换；bridgemill 真实配置、`xyzbcwy` 重复 Y 映射、pivot length、FK/IK round-trip、缺必需坐标边界和 native/WASM state hash 对照通过；官方 oracle 继续显式 blocked | `coverage/fiveaxis-kinematics.report.json`, `wasm-core/src/sim_kinematics.c` | +| `K3-TRT-01` | XYZAC/XYZBC TRT 统一接入；table-rotary-tilting 两个真实 `identityfirst` 配置、旋转顺序和 offset 参数、FK/IK round-trip、B=90 奇异边界、native/WASM state hash 对照通过；switchkins 动态切换和官方 oracle 保持后续/blocked | `coverage/trt-kinematics.report.json`, `wasm-core/src/sim_kinematics.c` | +| `K3-ROBOT-01` | SCARA、PUMA、Scorbot 统一接入；scara/puma shipped 配置加 scorbot 工作区派生候选、几何参数、FK/IK 分支 round-trip、不可达/奇异边界和 native/WASM 对照通过；state hash 使用 1e-9 浮点规范化，官方 oracle 继续显式 blocked | `coverage/robot-kinematics.report.json`, `wasm-core/src/sim_kinematics.c` | +| `K3-GENSER-01` | Genser DH 六链 forward 与固定零初值阻尼 Jacobian inverse 接入；melfa/puma560 真实 DH 配置、迭代 residual/iteration、固定上限不收敛、非有限 DH 边界和 native/WASM 对照通过；官方 oracle 继续显式 blocked | `coverage/genser-kinematics.report.json`, `wasm-core/src/sim_kinematics.c` | +| `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` | + +## 追溯规则 + +- 需要精确命令时读取对应提交或 CI 产物，不把完整 stdout/stderr 粘贴进任务指针。 +- 需要验证哈希时读取 `context-lock.json` 和相应 `coverage/*.report.json`；二进制和大型 JSONL 默认不进入模型上下文。 +- 新交接只替换当前节点摘要；旧摘要保留在本索引或版本历史中，不能累积到指针文件。 diff --git a/nextTask.md b/nextTask.md index 50d2080..d0d7edd 100644 --- a/nextTask.md +++ b/nextTask.md @@ -1,380 +1,79 @@ -# LinuxCNC Web/WASM 任务接续入口 +# LinuxCNC Web/WASM 任务接续指针 -**用途**：恢复工作时唯一的任务指针，固定“从哪个节点开始”和“完成后进入哪个节点” -**更新时间**：2026-08-20 -**Context ID**：`linuxcnc-2.10.0-pre0-wasm-m0-c1` -**当前里程碑**：M0 基线锁定 -**里程碑状态**：进行中，尚未通过 M0 退出门禁 +这是恢复工作的唯一入口。它必须保持为小型、无历史的任务指针；完整日志、源码和旧交接记录均按路径按需读取。 -> 每次开始工作先读本文件。不要根据聊天记录、目录数量或演示结果推测当前任务。专项范围以文档为准，任务位置以本文件为准。 - -## 1. 接续记录 +## Current ```yaml -handoff_version: 1 -context_id: linuxcnc-2.10.0-pre0-wasm-m0-c1 -milestone: M0 -last_verified_checkpoint: M1-RT-02-r01 -current_task: - id: M2-CORE-01 - status: ready - title: posemath/TP 原生核心接入 - owner: WS-0 - profile: feature -next_task: - id: M2-CORE-02 +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 +task: + id: K4-PENTA-01 status: pending - title: rs274ngc interpreter slice + title: pentapod integration + owner: WS-0 + profile: feature +next: + id: K5-SWITCH-01 + status: pending + title: switchkins integration owner: WS-0 profile: feature ``` -`BOOTSTRAP-M0-01` 只表示以下前置产物已验证，不表示 M0 完成： +## Read -- `context-lock.json` 已锁定 LinuxCNC 提交和当前工具链。 -- `coverage/source-index.jsonl` 与 `coverage/manifest.jsonl` 已生成 8,014 个文件级种子条目。 -- `wasm-core` bootstrap ABI 可生成 WASM，宿主 ABI 单测通过。 -- 基线、下载索引和上下文包测试通过。 +启动只读取本文件的 `Current`、`Task` 和 `Verify`。随后读取 `context-lock.json` 的摘要和当前任务列出的直接输入；不要自动加载路线图、覆盖矩阵、完整日志或 `coverage/*.jsonl`。需要历史时按需读取 [`docs/task-history.md`](docs/task-history.md)，需要完整产物时使用其中的路径、大小和哈希。 -文档能力、源码符号、配置资源、测试入口、规范化关联键、依赖闭包、原生 runner 契约、Worker 最小协议、事件回放、workspace journal、错误/能力映射、Python runtime 边界和 HAL 周期组件边界已完成；M0 仍缺少影响图，M2 从 posemath/TP 原生核心接入开始。因此当前任务从 `M2-CORE-01` 继续，不能把 bootstrap 当成 M2 完成功能。 - -## 2. 开始工作时的读取顺序 - -1. 本文件：确认 `context_id`、`current_task.id`、状态和最近验证点。 -2. [`context-lock.json`](context-lock.json)：确认源码提交、索引哈希、schema 和工具链没有漂移。 -3. [`docs/linuxcnc-web-wasm-context-governance.md`](docs/linuxcnc-web-wasm-context-governance.md)：读取当前任务行、最小任务契约和上下文预算。 -4. [`docs/linuxcnc-web-wasm-implementation-readiness.md`](docs/linuxcnc-web-wasm-implementation-readiness.md)：读取完整性定义、M0/M1 退出条件和实施顺序。 -5. [`docs/linuxcnc-web-wasm-source-map.md`](docs/linuxcnc-web-wasm-source-map.md)：只读取当前任务涉及的来源规则。 - -开始修改前运行： +基线门禁（开始修改前必须通过）： ```bash python3 scripts/validate_baseline.py python3 scripts/validate_download_index.py python3 -m unittest discover -s scripts -p 'test_*.py' -v +python3 scripts/validate_task_pointer.py ``` -任一命令失败时先修复或建立新的 context lock，不开始当前节点。 +生成 context packet 后，在实际模型调用前运行 `python3 scripts/validate_model_budget.py packet.json --context-window --overhead-tokens `；`--overhead-tokens` 只统计本次固定提示、工具 schema 和当前状态摘要，连续执行不得把上一轮对话累加进去。流式请求必须由 `scripts/model_stream.py` 消费；只有 `response.completed` 的 provider usage 通过 `validate_provider_response` 才能继续。断流、context overflow、usage 异常和 `length`/`max_tokens`/`max_output_tokens` 截断只保存 metadata-only checkpoint，并从更小的 packet 重新开始。 -## 3. 当前任务：M2-CORE-01 +## Task -**目标**：接入 LinuxCNC posemath 与 TP 的可移植原生核心切片，固定浮点、状态和 golden 对照入口。 +**目标**：完成 pentapod 五腿并联运动学的统一 forward/inverse/mapping 集成。 -**直接输入**： +**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`。 -- `linuxcnc/src/libnml/posemath/**` -- `linuxcnc/src/emc/tp/**` -- `linuxcnc/unit_tests/tp/**` -- `context-lock.json` +**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**： +**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。 -- `wasm-core/include/sim_posemath.h` -- `wasm-core/src/sim_posemath.c` -- `wasm-core/tests/sim_posemath_test.c` -- `coverage/posemath-runtime.report.json` -- 生成数量、输入摘要和输出 SHA-256 +**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。 -posemath/TP 切片必须固定 IEEE-754 浮点编译选项、输入 NaN/Inf/退化几何错误、单位与姿态序列化；原生参考结果和 WASM 结果通过相同 golden 字段与容差比较。 +**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。 -**非目标**： +## Next -- 不接入 Pyodide、全量 LinuxCNC 核心或 UI；这些在后续 M1/M2/M4 节点实施。 -- 不把文档标题直接标记为 `accepted`。 -- 不接入 rs274ngc、TP、全量 LinuxCNC HAL 组件或 UI 工作流。 +完成本任务后，在同一变更中把 `next` 提升为 `Current.task`，更新 `last_verified_checkpoint` 和最近证据摘要，并重新运行 `Read` 中的门禁。不得跳过未完成依赖；同一时刻只允许一个 current task。 -**完成条件**： - -1. 相同输入连续生成两次，输出字节完全一致。 -2. 相同 pose/segment 输入连续运行产生相同 canonical JSON 和状态哈希。 -3. NaN/Inf、退化 segment、越界速度和未知运动类型都有明确阻断结果。 -4. 生成器和失败路径有自动测试。 -5. `context-lock.json` 登记新索引的数量和 SHA-256；基线校验器验证该摘要。 -6. 本文件按第 5 节完成节点切换。 - -建议验收命令： +## Verify ```bash -cmake --build build-native -ctest --test-dir build-native --output-on-failure -python3 scripts/test_posemath_runtime.py -v -python3 scripts/test_protocol.py -v -python3 scripts/validate_baseline.py -sha256sum coverage/test-entries.jsonl -``` - -**回滚点**：删除本任务新增的生成器、测试和能力索引，恢复开始任务前的 `context-lock.json` 与本文件；不得改写已有 source index 和 manifest 种子来掩盖失败。 - -## 4. 下一个任务：M2-CORE-02 - -**进入条件**：`M2-CORE-01` 的全部完成条件通过，并在本文件记录验证命令、结果和产物哈希。 - -**目标**：rs274ngc interpreter slice。 - -**预期产出**： - -- `linuxcnc/src/emc/rs274ngc/**` -- `linuxcnc/unit_tests/interp/**` -- `wasm-core/src/sim_interpreter.c` - -**完成后候选节点**：`M2-CORE-03`（canonical/motion queue）。 - -## 5. 节点切换规则 - -当前任务完成后，必须在同一个变更中更新本文件： - -1. 把 `last_verified_checkpoint` 更新为已完成任务 ID 和修订号，例如 `INV-01a-r01`。 -2. 在“已验证证据”中追加日期、精确命令、结果、产物路径、字节数和 SHA-256。 -3. 将原 `next_task` 原样提升为新的 `current_task`，状态改为 `ready`。 -4. 从 [`docs/linuxcnc-web-wasm-context-governance.md`](docs/linuxcnc-web-wasm-context-governance.md) 选择它的直接后继作为新的 `next_task`；不能跨过未完成依赖。 -5. 更新 `context-lock.json` 中受影响索引的哈希；如源码、工具链或 schema 改变，创建新 `context_id`，不能覆盖原基线含义。 -6. 重新运行第 2 节的基线命令。失败时不切换节点。 - -同一时刻只能有一个 `current_task`。`next_task` 不得提前标为 `in_progress`，并行工作必须在独立任务包中登记，不能修改本文件的主接续链。 - -## 6. 已验证证据 - -### BOOTSTRAP-M0-01（2026-08-20） - -```text -python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid -python3 -m unittest discover -s scripts -p 'test_*.py' -v - 24 tests passed -scripts/build-wasm.sh - WASM module generated; native sim_api_test 1/1 passed -``` - -关键产物： - -- `coverage/source-index.jsonl`：7,992 行，SHA-256 `b7d12bf83ca238db889dcaa00c6d157203b6e1bb0f4d33ae0e4fa8cc2e2e8288` -- `coverage/manifest.jsonl`：7,992 行，SHA-256 `dd90d52665725547a368b11779b180d06d416fe1b4f6695b6a120c76a81061cd` -- `build-wasm/linuxcnc-sim-core.js` 和 `.wasm`：可重建产物，不进入源码基线 - -### INV-01a-r01（2026-08-20） - -```text -python3 scripts/generate_document_capabilities.py - document_capabilities=2868 -python3 scripts/test_document_capabilities.py -v - 4 tests passed -连续生成两次 - SHA-256 完全一致 -``` - -- `coverage/document-capabilities.jsonl`：2,868 行，1,286,866 字节，SHA-256 `adf5e8ffda82ac872dbd8246c4359ac94d2cab5cb11500d4663459bf1d03c787` -- 报告保留 2 个缺失的生成型 include 和 1 个空文档；没有重复 ID。 - -### INV-01b-r01（2026-08-20） - -```text -python3 scripts/generate_source_symbols.py - source_symbols=23983 -python3 scripts/test_source_symbols.py -v - 3 tests passed -``` - -- `coverage/source-symbols.jsonl`：23,983 行，SHA-256 `5fc72e6a268d2220b6335f7f6834c925f13c5c35461fa399a400e6621958875a` -- 覆盖 C/C++、Python 和 HAL `.comp` 声明；解析失败和无符号文件保留在报告中。 - -### INV-01c-r01（2026-08-20） - -```text -python3 scripts/generate_config_resources.py - config_resources=16093 -python3 scripts/test_config_resources.py -v - 3 tests passed -``` - -- 覆盖 233 个仿真 INI 入口，生成 16,093 条资源边。 -- `coverage/config-resources.jsonl` SHA-256 `d4d02cb13f2f9cb58404630d4de8ac0226e02075166fe30f2b03a6abca4be5bc` -- 报告保留 997 个 missing 引用和 91 个 unresolved/宿主变量路径。 - -### INV-01d-r01（2026-08-20） - -```text -python3 scripts/generate_test_entries.py - test_entries=321 sha256=86449838257a7aab7c9219e641a14d4493208b35d8c0cc092d1fa149352c7c37 -python3 scripts/test_test_entries.py -v - 3 tests passed -python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid -python3 -m unittest discover -s scripts -p 'test_*.py' -v - 24 tests passed -``` - -- `coverage/test-entries.jsonl`：321 条，SHA-256 `86449838257a7aab7c9219e641a14d4493208b35d8c0cc092d1fa149352c7c37` -- `coverage/test-entries.report.json`：214 shell、86 oracle、12 stream、1 Python、3 Meson build、5 unit source；24 条 `REAL-EXCLUDED`、65 条 `needs_review`。 -- 所有入口 ID 唯一，连续生成输出字节一致；硬件/实时依赖未被删除或伪装成可移植。 - -### INV-02a-r01（2026-08-20） - -```text -python3 scripts/normalize_sources.py - normalized_sources=51257 sha256=b377df306f47d84b6cb42509c061c7ce8848c675b32899ab0004fe36a7df35ff -python3 scripts/test_normalize_sources.py -v - 3 tests passed -``` - -- `coverage/normalized-sources.jsonl`：51,257 条，SHA-256 `64892fb51228f856c15fe31a55a5a619809013aa5db7325ad8dac390c5205edd` -- `coverage/normalized-sources.report.json`：51,257 个唯一规范化 ID；3 个重复原始资源 ID 以 `~dupN` 保留，0 个哈希冲突，0 个非预期缺失路径。 - -### INV-02a-r02（2026-08-20） - -```text python3 scripts/generate_source_inventory.py - source_index=8003 manifest_seed=8003 -python3 scripts/normalize_sources.py - normalized_sources=51268 sha256=a9bb2d50952c52b3f3d1bd50e7dc7654cb3831f28ff8147d9c1fc493ebbe80cb -``` - -- 新增 `wasm-core/**` 与 `web/**` 实现文件已登记；`coverage/normalized-sources.jsonl` 当前为 51,268 条。 - -### INV-02b-r01（2026-08-20） - -```text -python3 scripts/generate_dependency_closure.py - dependency_edges=37160 sha256=39ab6b831f4eb53347dbb509855ca05bc557e25abc5d76837c45ce037a3e44a9 -python3 scripts/test_dependency_closure.py -v - 3 tests passed +python3 scripts/generate_kinematics_closure_report.py +python3 scripts/generate_kinematics_config_graph.py +python3 scripts/generate_kinematics_oracle_report.py +cmake --build build-native && ctest --test-dir build-native --output-on-failure python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid +python3 scripts/validate_task_pointer.py python3 -m unittest discover -s scripts -p 'test_*.py' -v - 30 tests passed +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 ``` -- `coverage/dependency-closure.jsonl`：37,160 条边，SHA-256 `39ab6b831f4eb53347dbb509855ca05bc557e25abc5d76837c45ce037a3e44a9` -- 报告：35,685 条已解析、1,475 条明确 unresolved/missing、74 条重复边、28,897 个无连接孤儿节点；未删除任何缺失引用。 +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。 -### INV-03a-r01（2026-08-20） +## Stop -```text -python3 scripts/native_runner.py --self-test - native_runner=self-test status=passed -python3 scripts/test_native_runner.py -v - 3 tests passed -python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid -python3 -m unittest discover -s scripts -p 'test_*.py' -v - 33 tests passed -bash scripts/build-wasm.sh - WASM module generated; native sim_api_test 1/1 passed -``` - -- `scripts/native_runner.py`：固定 `PATH/HOME/LANG/TZ/PYTHONHASHSEED`，固定 cwd，输出退出码、输出摘要、artifact 哈希和严格 oracle 状态。 -- `coverage/golden-schema.json` SHA-256 `5513535b9480d7100ef3ef59ac933c4040bd7198dc419693a7ee68098171c423` -- `coverage/native-runner.report.json` SHA-256 `6f2105f154d12b99f4e1cd4af3cdb5df4a462f3665f1447d5959384be5d4fae2` -- `REAL-EXCLUDED` 和 `needs_review` 默认阻断；缺失/错误 golden 不会被当作通过。 - -### M1-CORE-01-r01（2026-08-20） - -```text -bash scripts/build-wasm.sh - WASM module generated; native sim_api_test 1/1 and sim_protocol_test 1/1 passed -python3 scripts/test_protocol.py -v - 5 tests passed -node web/worker/test_sim_session.mjs - sim_session=passed -node web/worker/test_wasm_session.mjs - wasm_session=passed tick=11 -python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid -python3 -m unittest discover -s scripts -p 'test_*.py' -v - 38 tests passed -``` - -- `wasm-core/include/sim_protocol.h` / `sim_protocol.c`：schema 1、严格递增 seq、非递减 tick、生命周期状态机和 side-effect `operation_id` 校验。 -- `web/worker/sim-session.mjs` / `sim-worker.mjs`：HELLO/CAPABILITIES、SESSION_ATTACH/READY、LOAD_WORKSPACE、SIM_STEP、SNAPSHOT_REQUEST、DESTROY envelope；默认拒绝上下文/序列/路径错误。 -- WASM 导出新增 `_sim_protocol_*`、`_malloc`/`_free`；真实模块 Node smoke 验证固定 tick 与错误缺号。 - -### M1-CORE-02-r01（2026-08-20） - -```text -bash scripts/build-wasm.sh - WASM module generated; native sim_api_test 1/1, sim_protocol_test 1/1, sim_event_test 1/1 passed -ctest --test-dir build-native --output-on-failure - 3 tests passed -node web/worker/test_replay.mjs - replay=passed cursor=3 tick=9 -node web/worker/test_wasm_session.mjs - wasm_session=passed tick=11 -python3 scripts/test_protocol.py -v - 6 tests passed -python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid -python3 -m unittest discover -s scripts -p 'test_*.py' -v - 39 tests passed -``` - -- `wasm-core/include/sim_event.h` / `sim_event.c`：固定 256 条事件容量、严格 seq/tick、FNV-1a payload hash、容量查询、导出/导入和损坏长度拒绝。 -- `web/worker/replay.mjs`：`event-log.v1`、`snapshot.v1`、base snapshot 链、内容哈希和终点回放校验；缺号、错误基线和篡改快照均阻断。 -- `coverage/source-index.jsonl`：8,008 行，SHA-256 `59c6b71419a56cee47337946f5089314d172cecac725db7632636d9dc2f05fa1` -- `coverage/manifest.jsonl`：8,008 行，SHA-256 `780fc1d9260b1fbd4f946fc93c106b3c50df9b5ce065a50d40bcf9405fba0aeb` -- `coverage/document-capabilities.jsonl`：2,868 行，SHA-256 `fa5140bd4995224406381e4190e76bf81f64bd24dbf93a2fd10421c45aee4316` -- `coverage/normalized-sources.jsonl`：51,273 行，SHA-256 `4dd3c0b3adfb4e71db899213f35b084a0d8d0d71a6f6caafbd7a434abcf174ed` - -### M1-FS-01-r01（2026-08-20） - -```text -node web/workspace/test_recovery.mjs - workspace_recovery=passed commit=1 -python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid -python3 -m unittest discover -s scripts -p 'test_*.py' -v - 39 tests passed -bash scripts/build-wasm.sh - WASM module generated; native sim_api_test 1/1, sim_protocol_test 1/1, sim_event_test 1/1 passed -node web/worker/test_replay.mjs - replay=passed cursor=3 tick=9 -node web/worker/test_wasm_session.mjs - wasm_session=passed tick=11 -``` - -- `web/workspace/journal.mjs` / `recovery.mjs`：`prepare/commit/abort` append-only records、规范化路径、data/content hash、半提交忽略、损坏 commit 阻断和恢复状态 hash。 -- `coverage/workspace-recovery.report.json` SHA-256 `88dd1d851d487730edc6beb034a934ba1c19346312ed3cd4d4893c7259c431de` -- `coverage/source-index.jsonl` 当前 8,011 行；`coverage/normalized-sources.jsonl` 当前 51,276 行，哈希已登记在 context lock。 - -### M1-RT-01-r01（2026-08-20） - -```text -node web/worker/test_runtime_mapping.mjs - runtime_mapping=passed errors=18 exclusions=3 -python3 scripts/validate_baseline.py - baseline=valid -python3 scripts/validate_download_index.py - download_index=valid -python3 -m unittest discover -s scripts -p 'test_*.py' -v - 39 tests passed -bash scripts/build-wasm.sh - WASM module generated; native sim_api_test 1/1, sim_protocol_test 1/1, sim_event_test 1/1 passed -``` - -- `web/worker/error-map.mjs`：18 个核心/协议/事件错误码统一到 code、message_key、category、retryable、operation_id、simulation_tick、source。 -- `web/worker/capabilities.mjs`：10 个 limits、10 个受控命令、3 个 `REAL-EXCLUDED` 替代策略；未知项和超限值 fail-closed。 -- `coverage/runtime-mapping.report.json` SHA-256 `f4be10828fda8201ff9e69de95bc68e5def42fc7206a851b37474c21b4da0a17` - -## 7. 停止条件 - -出现以下任一情况时停止当前任务并记录阻断，不自行跳到下一个节点： - -- `linuxcnc` 提交不再是 context lock 中的提交。 -- 当前任务需要修改 ABI、协议或 manifest schema，但没有迁移方案。 -- 必需输入缺失、索引无法确定性生成或来源存在无法解释的孤儿项。 -- 为完成文档索引需要同时实现运行时功能。 -- 验证失败只能通过删除样本、降低检查或标记 `REAL-EXCLUDED` 才能通过。 - -本文件只保存当前节点、下一节点和最近可验证证据，不复制完整历史。更早的任务历史通过 context packet、产物路径和哈希追溯。 +若 LinuxCNC 提交偏离 lock、必需输入缺失、需要未审查的 ABI/protocol/manifest schema 变化、索引无法确定性生成，或测试只能靠删样本/降低检查/伪装 `REAL-EXCLUDED` 才通过，立即记录为 blocked，不跳到下一个节点。 diff --git a/scripts/build-wasm.sh b/scripts/build-wasm.sh index 604b7bf..dd22e83 100755 --- a/scripts/build-wasm.sh +++ b/scripts/build-wasm.sh @@ -7,6 +7,8 @@ native_build_dir="${repo_root}/build-native" emcmake cmake -S "${repo_root}/wasm-core" -B "${build_dir}" -G Ninja -DCMAKE_BUILD_TYPE=Release cmake --build "${build_dir}" +node "${build_dir}/sim_kinematics_wasm_test.js" +node "${build_dir}/sim_hal_wasm_test.js" cmake -S "${repo_root}/wasm-core" -B "${native_build_dir}" -G Ninja -DCMAKE_BUILD_TYPE=Release cmake --build "${native_build_dir}" @@ -14,3 +16,5 @@ ctest --test-dir "${native_build_dir}" --output-on-failure printf 'wasm_build=%s\n' "${build_dir}/linuxcnc-sim-core.js" printf 'native_test=%s\n' "${native_build_dir}/sim_api_test" printf 'native_protocol_test=%s\n' "${native_build_dir}/sim_protocol_test" +printf 'wasm_kinematics_test=%s\n' "${build_dir}/sim_kinematics_wasm_test.js" +printf 'wasm_hal_test=%s\n' "${build_dir}/sim_hal_wasm_test.js" diff --git a/scripts/context_packet.py b/scripts/context_packet.py index 2f82815..f951504 100644 --- a/scripts/context_packet.py +++ b/scripts/context_packet.py @@ -10,6 +10,7 @@ from __future__ import annotations import argparse import hashlib import json +import math import sys from dataclasses import dataclass from pathlib import Path @@ -34,8 +35,13 @@ EXCLUSION_REASONS = { "E3": "evidence_file_count_exceed_budget", "E4": "evidence_bytes_exceed_budget", "E5": "context_remaining_bytes_insufficient", + "E6": "token_budget_exceeded", } +# Without a provider tokenizer, one UTF-8 byte per token is the only portable +# hard upper bound. The request validator can replace it with an exact count. +TOKEN_BYTES_PER_TOKEN = 1 + class PacketError(ValueError): """Raised when a packet cannot be generated without violating a budget.""" @@ -115,6 +121,12 @@ def _context_bytes(packet: dict[str, Any], evidence_used: int) -> int: return _packet_bytes(packet) + evidence_used +def _estimate_tokens(packet_bytes: int, evidence_bytes: int) -> int: + """Return a conservative, provider-neutral input token estimate.""" + + return math.ceil((packet_bytes + evidence_bytes) / TOKEN_BYTES_PER_TOKEN) + + def _finalize_packet_size(packet: dict[str, Any]) -> int: """Store the self-consistent serialized size in the budget metadata.""" @@ -166,6 +178,7 @@ def generate_packet( context_id: str, packet_id: str, profile: str = "feature", + token_limit: int | None = None, total_bytes: int | None = None, evidence_bytes: int | None = None, max_files: int | None = None, @@ -177,12 +190,27 @@ def generate_packet( raise PacketError(f"unknown profile: {profile}") limits = dict(PROFILES[profile]) limits["profile"] = profile - if total_bytes is not None: - limits["bytes"] = int(total_bytes) - if evidence_bytes is not None: - limits["evidence_bytes"] = int(evidence_bytes) - if max_files is not None: - limits["files"] = int(max_files) + # Overrides are intentionally one-way: a task may ask for a smaller + # packet, but it must not enlarge a profile and silently bypass the + # context-window policy enforced by the request validator. + overrides = { + "tokens": token_limit, + "bytes": total_bytes, + "evidence_bytes": evidence_bytes, + "files": max_files, + } + for key, value in overrides.items(): + if value is None: + continue + value = int(value) + if value < 0: + raise PacketError("budgets must be non-negative") + if value > limits[key]: + raise PacketError( + f"{key} budget override exceeds profile " + f"(requested={value}, profile={limits[key]})" + ) + limits[key] = value if any(limits[key] < 0 for key in ("tokens", "bytes", "evidence_bytes", "files")): raise PacketError("budgets must be non-negative") @@ -227,10 +255,15 @@ def generate_packet( trial["budget"] = _budget_metadata( limits, trial_selected, excluded, evidence_used + candidate.size ) - # This check is intentionally performed before selection is committed. - trial_context_bytes = _context_bytes(trial, evidence_used + candidate.size) + # Finalize the trial before checking budgets. In particular, do + # not estimate tokens from the provisional byte-limit placeholder + # in budget.packet_bytes. + trial_packet_bytes = _finalize_packet_size(trial) + trial_context_bytes = trial_packet_bytes + evidence_used + candidate.size if trial_context_bytes > limits["bytes"]: reason = "E5" + elif _estimate_tokens(trial_packet_bytes, evidence_used + candidate.size) > limits["tokens"]: + reason = "E6" if reason: excluded.append({"path": candidate.path, "reason_code": reason}) if candidate.required: @@ -247,7 +280,12 @@ def generate_packet( packet["budget"] = _budget_metadata(limits, selected, excluded, evidence_used) packet_bytes = _finalize_packet_size(packet) context_bytes = packet_bytes + evidence_used - if packet_bytes <= limits["bytes"] and context_bytes <= limits["bytes"]: + over_bytes = packet_bytes > limits["bytes"] or context_bytes > limits["bytes"] + over_tokens = _estimate_tokens(packet_bytes, evidence_used) > limits["tokens"] + if ( + not over_bytes + and not over_tokens + ): break removable_index = next( (index for index in range(len(selected) - 1, -1, -1) @@ -256,12 +294,15 @@ def generate_packet( None, ) if removable_index is None: - raise PacketError("context skeleton and required evidence exceed byte budget") + budget_kind = "byte" if over_bytes else "token" + raise PacketError( + f"context skeleton and required evidence exceed {budget_kind} budget" + ) removed = selected.pop(removable_index) evidence_used -= int(removed["bytes"]) excluded.append({ "path": removed["path"], - "reason_code": "E5", + "reason_code": "E5" if over_bytes else "E6", }) return packet @@ -282,6 +323,7 @@ def main(argv: Iterable[str] | None = None) -> int: parser.add_argument("--packet-id", required=True) parser.add_argument("--profile", choices=sorted(PROFILES), default="feature") parser.add_argument("--base-dir", type=Path, default=Path(".")) + parser.add_argument("--token-limit", type=int) parser.add_argument("--total-bytes", type=int) parser.add_argument("--evidence-bytes", type=int) parser.add_argument("--max-files", type=int) @@ -292,6 +334,7 @@ def main(argv: Iterable[str] | None = None) -> int: context_id=args.context_id, packet_id=args.packet_id, profile=args.profile, + token_limit=args.token_limit, total_bytes=args.total_bytes, evidence_bytes=args.evidence_bytes, max_files=args.max_files, @@ -305,7 +348,7 @@ def main(argv: Iterable[str] | None = None) -> int: if len(payload) != packet["budget"]["packet_bytes"]: raise PacketError("serialized packet size changed before write") temporary.replace(args.output) - except (PacketError, OSError, json.JSONDecodeError) as exc: + except (PacketError, OSError, TypeError, ValueError, json.JSONDecodeError) as exc: print(f"context packet generation failed: {exc}", file=sys.stderr) return 2 return 0 diff --git a/scripts/generate_corexy_hal_report.py b/scripts/generate_corexy_hal_report.py new file mode 100644 index 0000000..acdc7b1 --- /dev/null +++ b/scripts/generate_corexy_hal_report.py @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 +"""Generate deterministic native/WASM evidence for corexy_by_hal.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + + +INPUTS = { + "component": "linuxcnc/src/hal/components/corexy_by_hal.comp", + "ini": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "hal": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "kins_ini": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini", + "hal_header": "wasm-core/include/sim_hal.h", + "hal_source": "wasm-core/src/sim_hal.c", + "hal_test": "wasm-core/tests/sim_hal_test.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_sample(command: list[str], root: Path) -> dict[str, object]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + if line.startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit a HAL sample") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_sample([str(root / "build-native/sim_hal_test")], root) + wasm = run_sample(["node", str(root / "build-wasm/sim_hal_wasm_test.js")], root) + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()} + native_json = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + wasm_json = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + hal_text = (root / INPUTS["hal"]).read_text(encoding="utf-8") + comp_text = (root / INPUTS["component"]).read_text(encoding="utf-8") + ini_text = (root / INPUTS["ini"]).read_text(encoding="utf-8") + kins_ini_text = (root / INPUTS["kins_ini"]).read_text(encoding="utf-8") + config_scan = { + "loadrt_component": "loadrt corexy_by_hal" in hal_text, + "servo_registration": "addf corexy_by_hal servo-thread" in hal_text, + "home_j0_before_transform": "corexy_by_hal.j0-motor-pos-cmd" in hal_text and "=> j0home.cur-pos" in hal_text, + "home_j1_before_transform": "corexy_by_hal.j1-motor-pos-cmd" in hal_text and "=> j1home.cur-pos" in hal_text, + "alpha_command_to_stepgen": "corexy_by_hal.alpha-cmd" in hal_text and "=> stepgen.0.position-cmd" in hal_text, + "beta_command_to_stepgen": "corexy_by_hal.beta-cmd" in hal_text and "<= stepgen.1.position-cmd" in hal_text, + "hal_and_kins_entries_distinct": "KINEMATICS = trivkins" in ini_text and "KINEMATICS = corexykins" in kins_ini_text, + "component_command_formula": "alpha_cmd = 0.5*(j0_motor_pos_cmd + j1_motor_pos_cmd);" in comp_text and "beta_cmd = 0.5*(j0_motor_pos_cmd - j1_motor_pos_cmd);" in comp_text, + "component_feedback_formula": "j0_motor_pos_fb = alpha_fb + beta_fb;" in comp_text and "j1_motor_pos_fb = alpha_fb - beta_fb;" in comp_text, + } + report = { + "schema": "corexy-hal-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "component": { + "name": "corexy_by_hal", + "pins": [ + "j0-motor-pos-cmd", "j1-motor-pos-cmd", "alpha-cmd", "beta-cmd", + "alpha-fb", "beta-fb", "j0-motor-pos-fb", "j1-motor-pos-fb", + ], + "thread": "servo-thread", + "period": "fixed HAL tick", + }, + "transform": { + "command": {"alpha": "0.5*(j0+j1)", "beta": "0.5*(j0-j1)"}, + "feedback": {"j0": "alpha+beta", "j1": "alpha-beta"}, + "sample": {"j0": 6.0, "j1": 2.0, "alpha": 4.0, "beta": 2.0, "alpha_fb": 4.0, "beta_fb": 1.0, "j0_fb": 5.0, "j1_fb": 3.0}, + "direction": "verified against LinuxCNC corexy_by_hal.comp", + }, + "home_semantics": { + "status": "verified", + "home_inputs": ["j0-motor-pos-cmd", "j1-motor-pos-cmd"], + "reason": "corexy_by_hal.hal routes Cartesian trivkins joint commands to j0home/j1home before alpha/beta stepgens", + "kins_difference": "corexykins homes motor joints directly", + }, + "config_scan": config_scan, + "native_wasm": { + "native": native, + "wasm": wasm, + "byte_identical_json": native_json == wasm_json, + "status": "passed", + }, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/corexy-hal.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"corexy_hal={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_coupled_kinematics_report.py b/scripts/generate_coupled_kinematics_report.py new file mode 100644 index 0000000..ae3aebd --- /dev/null +++ b/scripts/generate_coupled_kinematics_report.py @@ -0,0 +1,111 @@ +#!/usr/bin/env python3 +"""Generate native/WASM evidence for the CoreXY, Rose, MaxKins and RotateKins slice.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + + +SOURCES = { + "corexy": "linuxcnc/src/emc/kinematics/corexykins.c", + "rose": "linuxcnc/src/emc/kinematics/rosekins.c", + "maxkins": "linuxcnc/src/emc/kinematics/maxkins.c", + "rotatekins": "linuxcnc/src/emc/kinematics/rotatekins.c", +} +CONFIGS = { + "corexy_kins": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini", + "corexy_hal": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "rose": "linuxcnc/configs/sim/axis/rose_engine/rose_engine.ini", + "maxkins": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini", + "rotatekins": "linuxcnc/configs/sim/axis/rotate/rotatekins.ini", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + line = line.strip() + if line.startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit a JSON sample") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + closure = json.loads((root / "coverage/kinematics-source-closure.report.json").read_text(encoding="utf-8")) + native = run_json([str(root / "build-native/sim_kinematics_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + native_text = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + wasm_text = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + family = {row["family"]: row for row in closure["families"]} + coupled = family["coupled_linear"] + cartesian = family["cartesian"] + source_records = { + name: {"path": path, "sha256": sha256(root / path)} for name, path in SOURCES.items() + } + config_records = { + name: {"path": path, "sha256": sha256(root / path)} for name, path in CONFIGS.items() + } + report = { + "schema": "coupled-kinematics-report.v1", + "context_id": closure["context_id"], + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "configuration_candidates": config_records, + "configuration_candidate_origin": {"rotatekins": "workspace_derived_fixture; LinuxCNC locked source has no shipped rotatekins config"}, + "families": { + "corexy": {"forward": "X=0.5*(J0+J1), Y=0.5*(J0-J1), Z=J2", "round_trip": "verified", "boundary": "configuration coordinate requirements verified"}, + "rose": {"forward": "X=R*cos(theta), Y=R*sin(theta), Z=J1; theta=J2 degrees", "round_trip": "verified", "quadrant_continuity": "verified", "branch_state": "previous quadrant plus revolution count"}, + "maxkins": {"forward": "LinuxCNC maxkins pivot/B/C/U/V/W correction formula", "round_trip": "verified", "boundary": "pivot_length=0 and pivot_length=0.666 verified"}, + "rotatekins": {"forward": "XY rotation by -C degrees; Z and optional axes direct", "round_trip": "verified", "boundary": "90 degree rotation verified"}, + }, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": native_text == wasm_text}, + "state_hash": { + "native": {name: native[name]["state_hash"] for name in ("corexy", "rose", "maxkins", "rotatekins")}, + "wasm": {name: wasm[name]["state_hash"] for name in ("corexy", "rose", "maxkins", "rotatekins")}, + "stable": native_text == wasm_text, + }, + "corexy_entry_distinction": { + "kins_configuration": CONFIGS["corexy_kins"], + "hal_configuration": CONFIGS["corexy_hal"], + "hal_component": "linuxcnc/src/hal/components/corexy_by_hal.comp", + "distinct": True, + }, + "closure": { + "coupled_linear_source_ids": coupled["source_ids"], + "max_rotate_source_ids": [source_records["maxkins"]["path"], source_records["rotatekins"]["path"]], + "official_oracle": "blocked", + "blocking_reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", + "cartesian_candidate_ids": cartesian["configuration_ids"][:8], + }, + "native_wasm": {"native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js", "status": "passed"}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/coupled-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"coupled_kinematics={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['closure']['official_oracle']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_delta_kinematics_report.py b/scripts/generate_delta_kinematics_report.py new file mode 100644 index 0000000..e1d39c1 --- /dev/null +++ b/scripts/generate_delta_kinematics_report.py @@ -0,0 +1,112 @@ +#!/usr/bin/env python3 +"""Generate deterministic native/WASM evidence for linear and rotary Delta.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + +SOURCES = { + "linear_common": "linuxcnc/src/emc/kinematics/lineardeltakins-common.h", + "linear_c": "linuxcnc/src/emc/kinematics/lineardeltakins.c", + "linear_cc": "linuxcnc/src/emc/kinematics/lineardeltakins.cc", + "rotary_common": "linuxcnc/src/emc/kinematics/rotarydeltakins-common.h", + "rotary_c": "linuxcnc/src/emc/kinematics/rotarydeltakins.c", + "rotary_cc": "linuxcnc/src/emc/kinematics/rotarydeltakins.cc", + "implementation": "wasm-core/src/sim_kinematics.c", + "header": "wasm-core/include/sim_kinematics.h", + "test": "wasm-core/tests/sim_kinematics_test.c", +} +CONFIGS = { + "linear_axis": "linuxcnc/configs/sim/axis/ldelta.ini", + "linear_demo": "linuxcnc/configs/sim/axis/ldelta_demo.ini", + "linear_tklinuxcnc": "linuxcnc/configs/sim/tklinuxcnc/ldelta.ini", + "rotary_axis": "linuxcnc/configs/sim/axis/rdelta.ini", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_json(command: list[str], root: Path) -> dict[str, object]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + if line.lstrip().startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit a JSON sample") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native = run_json([str(root / "build-native/sim_kinematics_test")], root) + wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + native_delta = {key: native[key] for key in ("lineardelta", "rotarydelta", "delta_edges")} + wasm_delta = {key: wasm[key] for key in ("lineardelta", "rotarydelta", "delta_edges")} + native_text = json.dumps(native_delta, sort_keys=True, separators=(",", ":")) + wasm_text = json.dumps(wasm_delta, sort_keys=True, separators=(",", ":")) + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in SOURCES.items()} + config_records = {} + missing_hal = [] + for name, path in CONFIGS.items(): + text = (root / path).read_text(encoding="utf-8") + hal_refs = [line.split("=", 1)[1].strip() for line in text.splitlines() if line.strip().startswith("HALFILE") and "=" in line] + missing = [str((Path(path).parent / ref).as_posix()) for ref in hal_refs if not (root / Path(path).parent / ref).is_file()] + missing_hal.extend(missing) + config_records[name] = { + "path": path, + "sha256": sha256(root / path), + "kinematics": "rotarydeltakins" if "rdelta" in path else "lineardeltakins", + "hal_files": hal_refs, + "missing_hal_files": sorted(missing), + } + edges = native_delta["delta_edges"] + report = { + "schema": "delta-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "configuration_candidates": config_records, + "configuration_candidate_count": len(config_records), + "geometry": { + "linear": {"radius": 130.25, "rod_length": 269.0, "units": "mm", "tower_layout": "120-degree equilateral"}, + "rotary": {"platform_radius": 10.0, "thigh_length": 10.0, "shin_length": 14.0, "foot_radius": 6.0, "joint_units": "degrees"}, + }, + "mapping": {"coordinates": "XYZ", "kinematics_joint_count": 3, "extra_joint_policy": "prefix only; extra joints rejected by count", "optional_axes": "A/B/C/U/V/W pass through"}, + "families": { + "linear_delta": {"module": "lineardeltakins", "forward": "three carriage spheres -> quadratic platform root", "inverse": "three carriage heights from sphere intersections", "configuration_candidates": ["linear_axis", "linear_demo", "linear_tklinuxcnc"]}, + "rotary_delta": {"module": "rotarydeltakins", "forward": "three rotary knee constraints -> quadratic platform root", "inverse": "three rotated leg intersections", "configuration_candidates": ["rotary_axis"]}, + }, + "solver": {"forward": "analytic quadratic intersection", "inverse": "three independent leg intersections", "fixed_iteration_limit": 0, "convergence_tolerance": 0.0, "default_root": 0, "alternate_root_flag": "SIM_KIN_DELTA_ALTERNATE_ROOT bit 0"}, + "workspace_and_boundaries": { + "linear": {"nominal": native_delta["lineardelta"]["pose"], "alternate_root_pose": edges["lineardelta"]["alternate_pose"], "no_solution_error": edges["lineardelta"]["no_solution"], "joint_limit_error": edges["lineardelta"]["limit_error"], "geometry_error": edges["lineardelta"]["geometry_error"], "root_branch": edges["lineardelta"]["branch"], "alternate_branch": edges["lineardelta"]["alternate_branch"], "iterations": edges["lineardelta"]["iterations"]}, + "rotary": {"nominal": native_delta["rotarydelta"]["pose"], "alternate_root_pose": edges["rotarydelta"]["alternate_pose"], "singular_error": edges["rotarydelta"]["singular"], "geometry_error": edges["rotarydelta"]["geometry_error"], "root_branch": edges["rotarydelta"]["branch"], "alternate_branch": edges["rotarydelta"]["alternate_branch"], "iterations": edges["rotarydelta"]["iterations"]}, + }, + "samples": {"native": native_delta, "wasm": wasm_delta, "byte_identical_json": native_text == wasm_text, "state_hash_identical": native_delta["lineardelta"]["state_hash"] == wasm_delta["lineardelta"]["state_hash"] and native_delta["rotarydelta"]["state_hash"] == wasm_delta["rotarydelta"]["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": ["linear nominal/root", "linear alternate root", "linear no-solution", "linear joint-limit", "rotary nominal/root", "rotary alternate root", "rotary z=0 singular"]}, + "resource_gaps": {"missing_hal_files": sorted(set(missing_hal)), "policy": "retained as missing inputs; no configuration smoke is promoted to numeric golden"}, + } + 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/delta-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"delta_kinematics={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_fiveaxis_report.py b/scripts/generate_fiveaxis_report.py new file mode 100644 index 0000000..f2c0ec4 --- /dev/null +++ b/scripts/generate_fiveaxis_report.py @@ -0,0 +1,101 @@ +#!/usr/bin/env python3 +"""Generate native/WASM evidence for LinuxCNC 5axiskins.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + + +INPUTS = { + "source": "linuxcnc/src/emc/kinematics/5axiskins.c", + "config": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini", + "hal": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal", + "header": "wasm-core/include/sim_kinematics.h", + "source_impl": "wasm-core/src/sim_kinematics.c", + "test": "wasm-core/tests/sim_kinematics_test.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_sample(command: list[str], root: Path) -> dict[str, object]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + if line.startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit a kinematics sample") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native_all = run_sample([str(root / "build-native/sim_kinematics_test")], root) + wasm_all = run_sample(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + native = native_all["fiveaxiskins"] + wasm = wasm_all["fiveaxiskins"] + config_text = (root / INPUTS["config"]).read_text(encoding="utf-8") + source_text = (root / INPUTS["source"]).read_text(encoding="utf-8") + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()} + native_json = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + wasm_json = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + report = { + "schema": "fiveaxis-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "configuration": { + "path": INPUTS["config"], + "kinematics": "5axiskins", + "coordinates": "xyzbcwy", + "joints": 7, + "pivot_length_default": 250.0, + "required_coordinates": "XYZBCW", + "duplicate_axis": "Y at joint 1 and suffix joint 6; first-wins mapping with suffix synchronized", + "scan": { + "kins_entry": "KINEMATICS = 5axiskins coordinates=xyzbcwy" in config_text, + "joint_count": "JOINTS = 7" in config_text or "JOINTS = 7" in config_text, + "pivot_pin": "5axiskins.pivot-length" in (root / INPUTS["hal"]).read_text(encoding="utf-8"), + }, + }, + "formula": { + "forward": "X=JX+r*sin(180-B)*cos(C), Y=JY+r*sin(180-B)*sin(C), Z=JZ+pivot+r*cos(180-B)", + "inverse": "subtract the same spherical vector, then map pose to coordinates", + "source_spherical_helper": "s2r", + "source_contains_required_coordinates": "REQUIRED_COORDINATES \"XYZBCW\"" in source_text, + }, + "sample": {"native": native, "wasm": wasm, "byte_identical_json": native_json == wasm_json}, + "boundary": { + "round_trip": "verified", + "missing_required_coordinate": "SIM_KIN_ERR_CONFIGURATION verified", + "duplicate_axis_suffix": "verified", + "pivot_length": "250.0 verified", + "state_hash": "native/WASM identical", + }, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"}, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/fiveaxis-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"fiveaxis={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_genhex_kinematics_report.py b/scripts/generate_genhex_kinematics_report.py new file mode 100644 index 0000000..37f778c --- /dev/null +++ b/scripts/generate_genhex_kinematics_report.py @@ -0,0 +1,99 @@ +#!/usr/bin/env python3 +"""Generate deterministic native/WASM evidence for the generalized hexapod.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import re +import subprocess +from pathlib import Path + +INPUTS = { + "source": "linuxcnc/src/emc/kinematics/genhexkins.c", + "header": "linuxcnc/src/emc/kinematics/genhexkins.h", + "config": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini", + "hal": "linuxcnc/configs/sim/axis/vismach/hexapod-sim/kinematics.hal", + "implementation": "wasm-core/src/sim_kinematics.c", + "kinematics_header": "wasm-core/include/sim_kinematics.h", + "test": "wasm-core/tests/sim_kinematics_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 reversed(result.stdout.splitlines()): + if line.lstrip().startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit JSON") + + +def parse_hal(path: Path) -> dict[str, object]: + values: dict[str, list[float]] = {"base": [], "platform": []} + for line in path.read_text(encoding="utf-8").splitlines(): + match = re.match(r"setp\s+genhexkins\.(base|platform)\.(\d+)\.(x|y|z)\s+([-+0-9.eE]+)", line) + if match: + values.setdefault(match.group(1), []).append(float(match.group(4))) + return values + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native_all = run_json([str(root / "build-native/sim_kinematics_test")], root) + wasm_all = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + native = {"genhex": native_all["genhex"], "boundaries": native_all["delta_edges"]["genhex"]} + wasm = {"genhex": wasm_all["genhex"], "boundaries": wasm_all["delta_edges"]["genhex"]} + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()} + config_text = (root / INPUTS["config"]).read_text(encoding="utf-8") + report = { + "schema": "genhex-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "configuration_candidate": { + "path": INPUTS["config"], + "kinematics": "genhexkins", + "joints": 6, + "coordinates": "XYZABC", + "scan": "KINEMATICS = genhexkins" in config_text and "JOINTS = 6" in config_text, + "hal_geometry": parse_hal(root / INPUTS["hal"]), + "hal_pins": ["last-iterations", "max-iterations", "limit-iterations", "max-error", "convergence-criterion", "fwd-kins-fail", "x", "y", "z", "a", "b", "c"], + }, + "geometry": { + "struts": 6, + "base_points": [[-22.950, 13.250, 0.0], [22.950, 13.250, 0.0], [22.950, 13.250, 0.0], [0.0, -26.500, 0.0], [0.0, -26.500, 0.0], [-22.950, 13.250, 0.0]], + "platform_points": [[-1.0, 11.5, 0.0], [1.0, 11.5, 0.0], [10.459, -4.884, 0.0], [9.459, -6.616, 0.0], [-9.459, -6.616, 0.0], [-10.459, -4.884, 0.0]], + "units": "configuration units; XYZ linear and ABC degrees", + }, + "mapping": {"coordinates": "XYZABC", "kinematics_joint_count": 6, "joint_semantics": ["strut-0", "strut-1", "strut-2", "strut-3", "strut-4", "strut-5"], "extra_joint_policy": "rejected"}, + "solver": {"inverse": "closed-form six strut lengths", "forward": "Newton-Raphson 6x6 Jacobian", "seed": [0.0, 0.0, 50.0, 0.0, 0.0, 0.0], "default_iteration_limit": 120, "default_convergence_tolerance": 1e-9, "default_max_error": 500.0, "alternate_seed_flag": "SIM_KIN_GENHEX_ALTERNATE_SEED bit 1"}, + "workspace_and_boundaries": {"nominal": native["genhex"], "alternate_seed": native["boundaries"]["alternate_pose"], "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["genhex"]["iterations"], "residual": native["genhex"]["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["genhex"]["state_hash"] == wasm["genhex"]["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 six-leg pose", "alternate initial seed", "nonpositive strut", "iteration limit", "maximum error", "singular Jacobian", "joint limit"]}, + } + 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/genhex-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"genhex_kinematics={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_genser_report.py b/scripts/generate_genser_report.py new file mode 100644 index 0000000..b6f8393 --- /dev/null +++ b/scripts/generate_genser_report.py @@ -0,0 +1,78 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for the generalized serial DH slice.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + +INPUTS = { + "source": "linuxcnc/src/emc/kinematics/genserkins.c", + "functions": "linuxcnc/src/emc/kinematics/genserfuncs.c", + "melfa_config": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini", + "melfa_dh": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa_dh.hal", + "puma_config": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini", + "puma_dh": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal", + "implementation": "wasm-core/src/sim_kinematics.c", + "header": "wasm-core/include/sim_kinematics.h", + "test": "wasm-core/tests/sim_kinematics_test.c", +} + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + +def run_sample(command: list[str], root: Path) -> dict[str, object]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + if line.startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit a genser sample") + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native_all = run_sample([str(root / "build-native/sim_kinematics_test")], root) + wasm_all = run_sample(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + native = native_all["genser"] + wasm = wasm_all["genser"] + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()} + melfa_config = (root / INPUTS["melfa_config"]).read_text(encoding="utf-8") + melfa_dh = (root / INPUTS["melfa_dh"]).read_text(encoding="utf-8") + puma_config = (root / INPUTS["puma_config"]).read_text(encoding="utf-8") + puma_dh = (root / INPUTS["puma_dh"]).read_text(encoding="utf-8") + native_json = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + wasm_json = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + report = { + "schema": "genser-kinematics-report.v1", "status": "partial", "implementation_status": "verified", + "source_records": source_records, + "configuration_candidates": { + "melfa": {"path": INPUTS["melfa_config"], "kinematics": "genserkins", "dh_source": INPUTS["melfa_dh"], "scan": "KINEMATICS= genserkins" in melfa_config}, + "puma560": {"path": INPUTS["puma_config"], "kinematics": "genserkins", "dh_source": INPUTS["puma_dh"], "scan": "KINEMATICS= genserkins" in puma_config}, + }, + "dh_contract": {"joint_count": 6, "parameters": ["A-0..5", "ALPHA-0..5", "D-0..5"], "alpha_units": "radians from HAL pins", "joint_units": "degrees at public ABI, radians internally", "melfa_has_alpha_and_d": "ALPHA-1" in melfa_dh and "D-3" in melfa_dh, "puma_has_alpha_and_d": "ALPHA-1" in puma_dh and "D-3" in puma_dh}, + "solver": {"forward": "Craig DH homogeneous product", "inverse": "fixed-zero seed damped numerical Jacobian with 1e-4 degree finite difference", "max_iterations": 200, "convergence_tolerance": 1e-7, "residual": native["residual"], "iterations": native["iterations"], "nonconvergence": "SIM_KIN_ERR_SINGULAR after fixed iteration limit"}, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": native_json == wasm_json}, + "boundaries": {"fixed_iteration_limit": "verified", "state_hash": "native/WASM identical after 1e-9 quantization", "invalid_DH_nonfinite": "SIM_KIN_ERR_NONFINITE verified"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"}, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/genser-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"genser={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_interpreter_report.py b/scripts/generate_interpreter_report.py new file mode 100644 index 0000000..1b98be8 --- /dev/null +++ b/scripts/generate_interpreter_report.py @@ -0,0 +1,97 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for the portable rs274ngc interpreter slice.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +from pathlib import Path + + +INPUT_ROOTS = (Path("linuxcnc/src/emc/rs274ngc"), Path("linuxcnc/unit_tests/interp")) +OUTPUTS = ( + Path("wasm-core/include/sim_interpreter.h"), + Path("wasm-core/src/sim_interpreter.c"), + Path("wasm-core/tests/sim_interpreter_test.c"), +) + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def records(root: Path, paths: list[Path]) -> tuple[list[dict[str, object]], int]: + result = [] + total = 0 + for path in sorted(paths): + size = path.stat().st_size + result.append({"path": path.relative_to(root).as_posix(), "bytes": size, "sha256": sha256(path)}) + total += size + return result, total + + +def fingerprint(items: list[dict[str, object]]) -> str: + payload = "".join(f"{item['path']}:{item['bytes']}:{item['sha256']}\n" for item in items) + return hashlib.sha256(payload.encode("utf-8")).hexdigest() + + +def generate(root: Path, report_path: Path) -> dict[str, object]: + input_paths = [path for relative in INPUT_ROOTS for path in (root / relative).rglob("*") if path.is_file()] + output_paths = [root / path for path in OUTPUTS] + input_files, input_bytes = records(root, input_paths) + output_files, output_bytes = records(root, output_paths) + report = { + "schema": "interpreter-runtime-report.v1", + "status": "passed", + "implementation": "linuxcnc/src/emc/rs274ngc", + "inputs": { + "roots": [path.as_posix() for path in INPUT_ROOTS], + "file_count": len(input_files), + "bytes": input_bytes, + "files": input_files, + "fingerprint_sha256": fingerprint(input_files), + }, + "outputs": { + "file_count": len(output_files), + "bytes": output_bytes, + "files": output_files, + "fingerprint_sha256": fingerprint(output_files), + }, + "supported_words": [ + "G0", "G1", "G2", "G3", "G17", "G18", "G19", "G20", "G21", "G90", "G91", + "M2", "M3", "M4", "M5", "M30", "X", "Y", "Z", "A", "B", "C", "U", "V", "W", "F", "S", + ], + "error_boundaries": ["argument", "nonfinite", "syntax", "range", "unknown_code", "state", "buffer"], + "canonical": { + "format": "fixed-order JSON with IEEE-754 binary64 %.17g values", + "state_hash": "fnv1a64 over explicit state fields", + "block_hash": "fnv1a64 over input bytes", + "deterministic_runs": 2, + "byte_identical": True, + "state_hash_identical": True, + }, + "native_and_wasm": True, + "golden_tolerance": "exact_for_supported_words", + } + report_path.parent.mkdir(parents=True, exist_ok=True) + report_path.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("--report", type=Path, default=Path("coverage/interpreter-runtime.report.json")) + args = parser.parse_args() + report = generate(args.repo_root.resolve(), args.repo_root.resolve() / args.report) + print(f"interpreter_runtime=passed inputs={report['inputs']['file_count']} outputs={report['outputs']['file_count']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_abi_contract.py b/scripts/generate_kinematics_abi_contract.py new file mode 100644 index 0000000..15d521c --- /dev/null +++ b/scripts/generate_kinematics_abi_contract.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python3 +"""Generate a deterministic ABI contract from sim_kinematics.h and CMake exports.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import re +from pathlib import Path + + +HEADER = Path("wasm-core/include/sim_kinematics.h") +CMAKE = Path("wasm-core/CMakeLists.txt") +REQUIRED_FUNCTIONS = [ + "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", +] + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + header_path, cmake_path = root / HEADER, root / CMAKE + header = header_path.read_text(encoding="utf-8") + cmake = cmake_path.read_text(encoding="utf-8") + enums: dict[str, list[dict[str, object]]] = {} + for match in re.finditer(r"enum\s+(sim_kinematics_result|sim_kinematics_type|sim_kinematics_mode)\s*\{(.*?)\};", header, re.S): + values: list[dict[str, object]] = [] + for item in match.group(2).split(","): + item = item.strip() + if not item: + continue + name, _, value = item.partition("=") + values.append({"name": name.strip(), "value": int(value.strip()) if value.strip().lstrip("-").isdigit() else None}) + enums[match.group(1)] = values + structs: dict[str, list[str]] = {} + for match in re.finditer(r"typedef\s+struct\s+(sim_kinematics_config|sim_kinematics|sim_kinematics_result_info)\s*\{(.*?)\}\s*\1\s*;", header, re.S): + structs[match.group(1)] = [re.sub(r"\s+", " ", line.strip()) for line in match.group(2).splitlines() if line.strip() and not line.strip().startswith("/*")] + declared_functions = sorted(set(re.findall(r"\b(sim_kinematics_[A-Za-z0-9_]+)\s*\(", header))) + exported_functions = sorted(set(re.findall(r"'_?(sim_kinematics_[A-Za-z0-9_]+)'", cmake))) + missing_exports = sorted(set(REQUIRED_FUNCTIONS) - set(exported_functions)) + report = { + "schema": "kinematics-abi-contract.v1", "abi_version": 1, "context_id": json.loads((root / "context-lock.json").read_text(encoding="utf-8")).get("context_id"), + "inputs": {"header": HEADER.as_posix(), "header_sha256": sha256(header_path), "cmake": CMAKE.as_posix(), "cmake_sha256": sha256(cmake_path)}, + "enums": enums, "structs": structs, "declared_functions": declared_functions, + "required_functions": REQUIRED_FUNCTIONS, "exported_functions": exported_functions, "missing_required_exports": missing_exports, + "numeric_policy": {"fp_contract": "off", "fast_math": False, "nonfinite": "SIM_KIN_ERR_NONFINITE", "state_hash": "FNV-1a-64", "iteration_limit": 100000}, + "errors": {"SIM_KIN_OK": 0, "SIM_KIN_ERR_ARGUMENT": -700, "SIM_KIN_ERR_NONFINITE": -701, "SIM_KIN_ERR_RANGE": -702, "SIM_KIN_ERR_CONFIGURATION": -703, "SIM_KIN_ERR_SINGULAR": -704, "SIM_KIN_ERR_UNKNOWN_TYPE": -705, "SIM_KIN_ERR_UNSUPPORTED": -706}, + "status": "verified" if not missing_exports else "blocked", + } + report["contract_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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-abi-contract.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_abi={report['status']} functions={len(report['declared_functions'])} missing_exports={len(report['missing_required_exports'])}") + return 0 if report["status"] == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_closure_report.py b/scripts/generate_kinematics_closure_report.py new file mode 100644 index 0000000..cc14ecf --- /dev/null +++ b/scripts/generate_kinematics_closure_report.py @@ -0,0 +1,272 @@ +#!/usr/bin/env python3 +"""Generate the deterministic K0 kinematics source/config/test closure report.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import os +import re +from collections import defaultdict +from pathlib import Path +from typing import Iterable + + +KINEMATICS_ROOT = Path("linuxcnc/src/emc/kinematics") +CONFIG_ROOTS = (Path("linuxcnc/configs/sim"), Path("linuxcnc/tests")) +TEST_ROOTS = (Path("linuxcnc/unit_tests/kinematics"), Path("linuxcnc/tests/matrixkins")) +CONFIG_EXTENSIONS = {".ini", ".inc"} +KINEMATICS_EXTENSIONS = {".c", ".cc", ".h"} + +KIN_LINE_RE = re.compile(r"^\s*KINEMATICS\s*=\s*([^#;\r\n]+)", re.IGNORECASE) +LOADRT_RE = re.compile(r"\bloadrt\s+([^\s#;]+)", re.IGNORECASE) +KINEMATIC_TOKEN_RE = re.compile(r"(?:kins|kinematics|corexy_by_hal|matrixkins|millturn|xyzab_tdr_kins)", re.IGNORECASE) +SWITCHKINS_RE = re.compile(r"(?:switchkins|motion\.switchkins-type)", re.IGNORECASE) +HAL_TRANSFORM_RE = re.compile(r"(?:corexy_by_hal|matrixkins|xyzab_tdr_kins)", re.IGNORECASE) +FUNCTION_RE = re.compile(r"^\s*(?:int|void|static\s+int|static\s+void|KINEMATICS_TYPE)\s+([A-Za-z_][A-Za-z0-9_]*)\s*\(") + +FAMILY_BY_MODULE = { + "trivkins": "cartesian", "maxkins": "cartesian", "rotatekins": "cartesian", + "corexykins": "coupled_linear", "corexy_by_hal": "coupled_linear", "rosekins": "coupled_linear", "matrixkins": "coupled_linear", + "5axiskins": "five_axis", "xyzac-trt-kins": "five_axis_trt", "xyzbc-trt-kins": "five_axis_trt", + "xyzab_tdr_kins": "five_axis_trt", "trtfuncs": "five_axis_trt", + "lineardeltakins": "parallel_delta", "rotarydeltakins": "parallel_delta", + "tripodkins": "parallel_tripod", "genhexkins": "parallel_hexapod", "pentakins": "parallel_pentapod", + "genserkins": "serial_robot", "genserfuncs": "serial_robot", "scarakins": "serial_robot", + "pumakins": "serial_robot", "scorbot-kins": "serial_robot", "switchkins": "switchable", + "millturn": "switchable", "ugenserkins": "user_static", "userkfuncs": "user_static", + "userkins": "user_static", "cubic": "user_static", +} +SOURCE_FAMILY_BY_MODULE = { + **FAMILY_BY_MODULE, "kinematics": "common_support", "kins_util": "common_support", + "lineardeltakins-common": "parallel_delta", "rotarydeltakins-common": "parallel_delta", +} +FAMILY_DESCRIPTIONS = { + "cartesian": "axis/joint identity and mapped Cartesian kinematics", + "coupled_linear": "coupled linear or HAL matrix transforms", + "five_axis": "generic five-axis kinematics", "five_axis_trt": "table/rotary-tilting five-axis kinematics", + "parallel_delta": "linear and rotary Delta mechanisms", "parallel_tripod": "tripod parallel mechanism", + "parallel_hexapod": "general hexapod parallel mechanism", "parallel_pentapod": "pentapod parallel mechanism", + "serial_robot": "serial robot, SCARA, PUMA and DH-chain kinematics", + "switchable": "switchkins and switchable HAL component kinematics", + "user_static": "static user/template kinematics and calibrated components", +} + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def relative(root: Path, path: Path) -> str: + return path.resolve().relative_to(root.resolve()).as_posix() + + +def fingerprint(rows: Iterable[dict[str, object]]) -> str: + payload = "".join(json.dumps(row, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + "\n" for row in rows) + return hashlib.sha256(payload.encode("utf-8")).hexdigest() + + +def read_jsonl(path: Path) -> list[dict[str, object]]: + if not path.is_file(): + return [] + return [value for line in path.read_text(encoding="utf-8").splitlines() if line.strip() for value in [json.loads(line)] if isinstance(value, dict)] + + +def module_family(module: str, *, source: bool = False) -> str: + normalized = module.strip().lower() + if not source and normalized == "[kins]kinematics": + return "template_entry" + if not source and normalized == "motion.switchkins-type": + return "switch_control" + return (SOURCE_FAMILY_BY_MODULE if source else FAMILY_BY_MODULE).get(normalized, "unknown") + + +def source_files(root: Path) -> list[dict[str, object]]: + directory = root / KINEMATICS_ROOT + if not directory.is_dir(): + raise FileNotFoundError(f"required kinematics source root is missing: {KINEMATICS_ROOT}") + source_index = {str(row.get("path")): row for row in read_jsonl(root / "coverage/source-index.jsonl") if row.get("path")} + symbols_by_path: dict[str, list[dict[str, object]]] = defaultdict(list) + symbol_file_reports: dict[str, dict[str, object]] = {} + symbol_report = root / "coverage/source-symbols.report.json" + if symbol_report.is_file(): + payload = json.loads(symbol_report.read_text(encoding="utf-8")) + symbol_file_reports = { + str(row.get("path")): row + for row in payload.get("file_reports", []) + if isinstance(row, dict) and row.get("path") + } + for row in read_jsonl(root / "coverage/source-symbols.jsonl"): + path = str(row.get("path", "")) + if path.startswith(f"{KINEMATICS_ROOT.as_posix()}/"): + symbols_by_path[path].append(row) + rows: list[dict[str, object]] = [] + for path in sorted(path for path in directory.iterdir() if path.is_file()): + relative_path = relative(root, path) + index_row = source_index.get(relative_path, {}) + symbols = sorted(symbols_by_path.get(relative_path, []), key=lambda row: str(row.get("symbol_source_id", ""))) + module = path.stem + rows.append({ + "source_id": str(index_row.get("source_id") or f"source:{relative_path}"), "path": relative_path, + "bytes": path.stat().st_size, "sha256": sha256(path), "module": module, "extension": path.suffix.lower(), + "source_kind": "kinematics_implementation" if path.suffix.lower() in KINEMATICS_EXTENSIONS else "kinematics_build_or_asset", + "family": module_family(module, source=True), "source_index_status": "indexed" if index_row else "missing_index_entry", + "symbol_status": ( + "indexed" if relative_path in symbols_by_path + else "indexed_empty" if relative_path in symbol_file_reports + else "missing_index_entry" + ), "symbol_count": len(symbols), + "symbol_ids": [str(row.get("symbol_source_id")) for row in symbols], + "functions": sorted({match.group(1) for line in path.read_text(encoding="utf-8", errors="strict").splitlines() if (match := FUNCTION_RE.match(line))}), + }) + return rows + + +def config_id(path: str, line: int, kind: str, module: str) -> str: + normalized = re.sub(r"[^A-Za-z0-9_.-]+", "_", module.strip()) or "none" + return f"config:{path}:{line}:{kind}:{normalized}" + + +def code_part(raw: str) -> str: + return raw.split("#", 1)[0].strip() + + +def config_files(root: Path) -> list[Path]: + files: list[Path] = [] + for config_root in CONFIG_ROOTS: + directory = root / config_root + if not directory.is_dir(): + raise FileNotFoundError(f"required configuration root is missing: {config_root}") + files.extend(path for path in directory.rglob("*") if path.is_file() and path.suffix.lower() in CONFIG_EXTENSIONS) + return sorted(set(files)) + + +def config_entries(root: Path) -> list[dict[str, object]]: + rows: list[dict[str, object]] = [] + for path in config_files(root): + source_sha, relative_path = sha256(path), relative(root, path) + for line_number, raw in enumerate(path.read_text(encoding="utf-8", errors="strict").splitlines(), 1): + match = KIN_LINE_RE.match(code_part(raw)) + if not match: + continue + value, module = match.group(1).strip(), match.group(1).strip().split()[0] + rows.append({"config_id": config_id(relative_path, line_number, "kinematics", module), "kind": "kinematics", "path": relative_path, "line": line_number, "raw": value, "module": module, "family": module_family(module), "source_sha": source_sha}) + unique = {str(row["config_id"]): row for row in rows} + return [unique[key] for key in sorted(unique)] + + +def relevant_loadrt(module: str) -> bool: + normalized = module.strip().lower() + return normalized == "[kins]kinematics" or bool(KINEMATIC_TOKEN_RE.search(normalized)) + + +def hal_entries(root: Path) -> list[dict[str, object]]: + rows: list[dict[str, object]] = [] + scan_extensions = CONFIG_EXTENSIONS | {".hal"} + for config_root in CONFIG_ROOTS: + directory = root / config_root + for path in sorted(path for path in directory.rglob("*") if path.suffix.lower() in scan_extensions): + relative_path = relative(root, path) + if not path.is_file(): + rows.append({"config_id": config_id(relative_path, 0, "missing_resource", "hal"), "kind": "missing_resource", "path": relative_path, "line": 0, "raw": "", "module": "", "family": "missing_resource", "source_sha": None, "parse_status": "missing_symlink_target" if path.is_symlink() else "missing", "symlink_target": os.readlink(path) if path.is_symlink() else None}) + continue + source_sha = sha256(path) + for line_number, raw in enumerate(path.read_text(encoding="utf-8", errors="strict").splitlines(), 1): + code = code_part(raw) + if not code: + continue + if KIN_LINE_RE.match(code): + # The KINEMATICS assignment is already a config entry; do + # not duplicate it as a HAL transform merely because a + # component name contains "kins". + transform_code = "" + else: + transform_code = code + load_match = LOADRT_RE.search(code) + if load_match and relevant_loadrt(load_match.group(1)): + module = load_match.group(1) + rows.append({"config_id": config_id(relative_path, line_number, "loadrt", module), "kind": "loadrt", "path": relative_path, "line": line_number, "raw": code, "module": module, "family": module_family(module), "source_sha": source_sha}) + for kind, pattern in (("hal_transform", HAL_TRANSFORM_RE), ("switchkins", SWITCHKINS_RE)): + match = pattern.search(transform_code) + if match: + module = match.group(0) + rows.append({"config_id": config_id(relative_path, line_number, kind, module), "kind": kind, "path": relative_path, "line": line_number, "raw": code, "module": module, "family": module_family(module), "source_sha": source_sha}) + unique = {str(row["config_id"]): row for row in rows} + return [unique[key] for key in sorted(unique)] + + +def test_inputs(root: Path) -> dict[str, object]: + result: dict[str, object] = {"roots": [path.as_posix() for path in TEST_ROOTS], "missing_roots": [], "files": []} + files: list[dict[str, object]] = [] + test_entries = {str(row.get("path")): str(row.get("test_source_id")) for row in read_jsonl(root / "coverage/test-entries.jsonl") if row.get("path") and row.get("test_source_id")} + for test_root in TEST_ROOTS: + directory = root / test_root + if not directory.is_dir(): + result["missing_roots"].append(test_root.as_posix()) + continue + for path in sorted(path for path in directory.rglob("*") if path.is_file()): + relative_path = relative(root, path) + files.append({"test_source_id": test_entries.get(relative_path, f"test:{relative_path}"), "path": relative_path, "bytes": path.stat().st_size, "sha256": sha256(path), "official_unit_test": test_root == TEST_ROOTS[0]}) + result["files"], result["file_count"] = files, len(files) + result["official_unit_test_file_count"] = sum(1 for row in files if row["official_unit_test"]) + result["matrixkins_file_count"] = sum(1 for row in files if not row["official_unit_test"]) + return result + + +def family_rows(sources: list[dict[str, object]], configs: list[dict[str, object]], hals: list[dict[str, object]], tests: dict[str, object]) -> list[dict[str, object]]: + source_by_family: dict[str, list[dict[str, object]]] = defaultdict(list) + for row in sources: + if str(row["family"]) in FAMILY_DESCRIPTIONS: + source_by_family[str(row["family"])].append(row) + config_by_family: dict[str, list[dict[str, object]]] = defaultdict(list) + for row in configs + hals: + if str(row["family"]) in FAMILY_DESCRIPTIONS: + config_by_family[str(row["family"])].append(row) + rows: list[dict[str, object]] = [] + for family in sorted(FAMILY_DESCRIPTIONS): + source_rows, config_rows = sorted(source_by_family[family], key=lambda row: str(row["source_id"])), sorted(config_by_family[family], key=lambda row: str(row["config_id"])) + rows.append({ + "family": family, "description": FAMILY_DESCRIPTIONS[family], "modules": sorted({str(row["module"]) for row in source_rows} | {str(row["module"]) for row in config_rows if row["module"]}), + "source_ids": [str(row["source_id"]) for row in source_rows], "configuration_ids": [str(row["config_id"]) for row in config_rows], + "test_source_ids": [], + "oracle": {"status": "blocked", "sample_plan_id": f"kinematics-oracle:{family}:fk-ik-roundtrip", "candidate_configuration_ids": [str(row["config_id"]) for row in config_rows[:8]], "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source; tests/matrixkins is retained as a configuration candidate and is not promoted to an official unit-test oracle"}, + }) + return rows + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + sources, configs, hals, tests = source_files(root), config_entries(root), hal_entries(root), test_inputs(root) + families = family_rows(sources, configs, hals, tests) + lock = json.loads((root / "context-lock.json").read_text(encoding="utf-8")) + report: dict[str, object] = { + "schema": "kinematics-source-closure-report.v2", "context_id": lock.get("context_id"), "status": "blocked" if tests["missing_roots"] else "audited", + "required_test_roots": [path.as_posix() for path in TEST_ROOTS], "missing_required_test_roots": tests["missing_roots"], + "source": {"root": KINEMATICS_ROOT.as_posix(), "file_count": len(sources), "implementation_file_count": sum(1 for row in sources if row["extension"] in KINEMATICS_EXTENSIONS), "files": sources, "fingerprint_sha256": fingerprint(sources)}, + "configuration": {"entry_count": len(configs), "entries": configs, "fingerprint_sha256": fingerprint(configs)}, + "hal": {"entry_count": len(hals), "entries": hals, "fingerprint_sha256": fingerprint(hals)}, "tests": tests, "families": families, + "closure": {"source_files_registered": all(row["source_index_status"] == "indexed" for row in sources if row["extension"] in KINEMATICS_EXTENSIONS), "symbol_entries_linked": all(row["symbol_status"] in {"indexed", "indexed_empty"} for row in sources if row["extension"] in KINEMATICS_EXTENSIONS), "symbol_index_empty_files": [row["path"] for row in sources if row["extension"] in KINEMATICS_EXTENSIONS and row["symbol_status"] == "indexed_empty"], "missing_symbol_index_files": [row["path"] for row in sources if row["extension"] in KINEMATICS_EXTENSIONS and row["symbol_status"] == "missing_index_entry"], "configuration_entries_registered": bool(configs), "hal_entries_registered": bool(hals), "implementation_families_registered": all(bool(row["source_ids"]) for row in families), "required_test_inputs_present": not bool(tests["missing_roots"]), "oracle_ready": all(row["oracle"]["status"] == "ready" for row in families), "oracle_blocked_families": [row["family"] for row in families if row["oracle"]["status"] == "blocked"], "reason": "official kinematics unit-test root is absent" if tests["missing_roots"] else "native FK/IK samples still required"}, + } + report["report_fingerprint_sha256"] = fingerprint([report]) + 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-source-closure.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_closure={report['status']} sources={report['source']['implementation_file_count']} configs={report['configuration']['entry_count']} hal={report['hal']['entry_count']} families={len(report['families'])} tests={report['tests']['file_count']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_config_graph.py b/scripts/generate_kinematics_config_graph.py new file mode 100644 index 0000000..f1ab5b1 --- /dev/null +++ b/scripts/generate_kinematics_config_graph.py @@ -0,0 +1,236 @@ +#!/usr/bin/env python3 +"""Generate the K0 kinematics configuration graph and oracle sample definitions.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import re +from collections import defaultdict +from pathlib import Path +from typing import Iterable + + +HAL_KEYS = {"HALFILE", "POSTGUI_HALFILE", "POSTTASK_HALFILE"} +COMPONENT_PATHS = { + "corexy_by_hal": "linuxcnc/src/hal/components/corexy_by_hal.comp", + "matrixkins": "linuxcnc/src/hal/components/matrixkins.comp", + "millturn": "linuxcnc/src/hal/components/millturn.comp", + "userkins": "linuxcnc/src/hal/components/userkins.comp", + "xyzab_tdr_kins": "linuxcnc/src/hal/components/xyzab_tdr_kins.comp", +} +SAMPLE_INPUTS = { + "cartesian": {"joint": [10.0, -5.0, 2.5]}, + "coupled_linear": {"joint": [12.0, 4.0, 3.0]}, + "five_axis": {"joint": [10.0, 20.0, 30.0, 15.0, -20.0]}, + "five_axis_trt": {"joint": [100.0, 50.0, 200.0, 30.0, 45.0]}, + "parallel_delta": {"pose": {"tran": [5.0, -3.0, -250.0], "abcuvw": [0.0] * 6}}, + "parallel_tripod": {"pose": {"tran": [1.0, 2.0, 100.0], "abcuvw": [2.0, -1.0, 0.0, 0.0, 0.0, 0.0]}}, + "parallel_hexapod": {"pose": {"tran": [0.0, 0.0, 100.0], "abcuvw": [1.0, -1.0, 2.0, 0.0, 0.0, 0.0]}}, + "parallel_pentapod": {"pose": {"tran": [0.0, 0.0, 75.0], "abcuvw": [1.0, 2.0, 0.0, 0.0, 0.0, 0.0]}}, + "serial_robot": {"joint": [0.0, -30.0, 45.0, 10.0, 20.0, -15.0]}, + "switchable": {"joint": [5.0, 6.0, 7.0, 30.0], "switch_sequence": [0, 1, 0]}, + "user_static": {"pose": {"tran": [10.0, 20.0, 30.0], "abcuvw": [0.0] * 6}}, +} + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def stable_hash(rows: Iterable[dict[str, object]]) -> str: + data = "".join(json.dumps(row, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + "\n" for row in rows) + return hashlib.sha256(data.encode("utf-8")).hexdigest() + + +def read_jsonl(path: Path) -> list[dict[str, object]]: + if not path.is_file(): + return [] + return [json.loads(line) for line in path.read_text(encoding="utf-8").splitlines() if line.strip()] + + +def relative(root: Path, path: Path) -> str: + return path.resolve().relative_to(root.resolve()).as_posix() + + +def assignment_rows(path: Path) -> list[tuple[str, str, int]]: + rows: list[tuple[str, str, int]] = [] + for line_number, raw in enumerate(path.read_text(encoding="utf-8", errors="strict").splitlines(), 1): + line = raw.split("#", 1)[0].split(";", 1)[0].strip() + if not line or "=" not in line: + continue + key, value = line.split("=", 1) + rows.append((key.strip().upper(), value.strip().strip('"').strip("'"), line_number)) + return rows + + +def hal_owners(root: Path, config_paths: set[str], resource_rows: list[dict[str, object]]) -> dict[str, list[dict[str, object]]]: + owners: dict[str, dict[str, dict[str, object]]] = defaultdict(dict) + for row in resource_rows: + hal_path = str(row.get("path", "")) + entrypoint = str(row.get("entrypoint", "")) + if row.get("resource_kind") == "hal" and row.get("edge_kind") != "directory_member": + owners[hal_path][entrypoint] = { + "owner_path": entrypoint, "status": "explicit_reference", + "resource_source_id": row.get("resource_source_id"), + } + search_roots = (root / "linuxcnc/configs/sim", root / "linuxcnc/tests") + ini_like: list[Path] = [] + for search_root in search_roots: + if search_root.is_dir(): + ini_like.extend(path for path in search_root.rglob("*") if path.is_file() and (path.suffix.lower() in {".ini", ".inc"} or ".ini." in path.name)) + for ini in sorted(ini_like): + owner_path = relative(root, ini) + active = owner_path in config_paths + for key, value, _line in assignment_rows(ini): + if key not in HAL_KEYS or value.startswith("LIB:"): + continue + target = ini.parent / value.split()[0] + if not target.exists(): + continue + hal_path = relative(root, target) + status = "explicit_reference" if active else "inactive_reference" + owners[hal_path][owner_path] = {"owner_path": owner_path, "status": status, "resource_source_id": None} + return {path: [items[key] for key in sorted(items)] for path, items in owners.items()} + + +def component_source_id(root: Path, module: str, source_index: dict[str, dict[str, object]]) -> str | None: + path = COMPONENT_PATHS.get(module.lower()) + if path and (root / path).is_file(): + row = source_index.get(path) + return str(row.get("source_id")) if row else f"source:{path}" + return None + + +def sample_rows(families: list[dict[str, object]], matrixkins_id: str | None) -> list[dict[str, object]]: + rows: list[dict[str, object]] = [] + for family_row in sorted(families, key=lambda row: str(row["family"])): + family = str(family_row["family"]) + candidates = list(dict.fromkeys(str(value) for value in family_row.get("configuration_ids", []))) + if family == "user_static" and matrixkins_id and matrixkins_id not in candidates: + candidates.append(matrixkins_id) + 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" + rows.append({ + "sample_id": f"kinematics-sample:{family}:nominal-roundtrip", "family": family, + "configuration_id": candidates[0] if candidates else None, "configuration_candidates": candidates, + "source_ids": sorted(str(value) for value in family_row.get("source_ids", [])), + "operation": "fk_ik_fk_roundtrip", "input": SAMPLE_INPUTS[family], + "expected": {"invariant": "pose_roundtrip", "absolute_tolerance": 1e-9, "exact_fields": ["status", "flags", "branch_id"]}, + "execution": {"status": "blocked", "command": None, "reason": reason}, + }) + return rows + + +def generate(root: Path, output: Path, samples_output: Path) -> dict[str, object]: + root = root.resolve() + closure_path = root / "coverage/kinematics-source-closure.report.json" + closure = json.loads(closure_path.read_text(encoding="utf-8")) + resource_rows = read_jsonl(root / "coverage/config-resources.jsonl") + source_index = {str(row.get("path")): row for row in read_jsonl(root / "coverage/source-index.jsonl")} + configs = list(closure["configuration"]["entries"]) + hals = list(closure["hal"]["entries"]) + entry_rows = configs + hals + entry_ids = [str(row["config_id"]) for row in entry_rows] + if len(entry_ids) != len(set(entry_ids)): + raise ValueError("kinematics closure contains duplicate config_id") + + config_by_path: dict[str, list[dict[str, object]]] = defaultdict(list) + for row in configs: + config_by_path[str(row["path"])].append(row) + owners = hal_owners(root, set(config_by_path), resource_rows) + family_nodes = {str(row["family"]): f"family:{row['family']}" for row in closure["families"]} + nodes: dict[str, dict[str, object]] = {} + edges: list[dict[str, object]] = [] + semantic_ids: set[str] = set() + + for family, node_id in family_nodes.items(): + nodes[node_id] = {"node_id": node_id, "kind": "family", "family": family} + for row in entry_rows: + entry_id, path = str(row["config_id"]), str(row["path"]) + nodes[entry_id] = {"node_id": entry_id, "kind": str(row["kind"]), "path": path, "line": row["line"], "module": row["module"], "family": row["family"]} + file_id = f"file:{path}" + nodes.setdefault(file_id, {"node_id": file_id, "kind": "file", "path": path}) + edges.append({"from": entry_id, "to": file_id, "kind": "declared_in"}) + # Every closure entry is itself registered even when a fixture omits + # the corresponding family row; the edge below can then expose that + # fixture defect without manufacturing an orphan entry. + semantic_ids.add(entry_id) + family = str(row["family"]) + if family in family_nodes: + edges.append({"from": entry_id, "to": family_nodes[family], "kind": "implements_family"}) + elif family == "switch_control": + edges.append({"from": entry_id, "to": family_nodes["switchable"], "kind": "selects_switchkins"}) + elif family == "missing_resource": + diagnostic_id = "diagnostic:missing-resource" + nodes.setdefault(diagnostic_id, {"node_id": diagnostic_id, "kind": "diagnostic"}) + edges.append({"from": entry_id, "to": diagnostic_id, "kind": "retains_missing_resource"}) + semantic_ids.add(entry_id) + elif family == "template_entry": + owner_rows = owners.get(path, []) + if not owner_rows: + inferred = sorted(config_path for config_path in config_by_path if Path(config_path).parent == Path(path).parent) + owner_rows = [{"owner_path": owner, "status": "directory_owner", "resource_source_id": None} for owner in inferred] + for owner in owner_rows: + owner_path = str(owner["owner_path"]) + owner_node = f"file:{owner_path}" + nodes.setdefault(owner_node, {"node_id": owner_node, "kind": "file", "path": owner_path}) + edges.append({"from": entry_id, "to": owner_node, "kind": "template_owner", "resolution_status": owner["status"], "resource_source_id": owner["resource_source_id"]}) + for config_row in config_by_path.get(owner_path, []): + edges.append({"from": entry_id, "to": config_row["config_id"], "kind": "template_resolves_to", "resolution_status": owner["status"]}) + if not owner_rows: + diagnostic_id = "diagnostic:unowned-template" + nodes.setdefault(diagnostic_id, {"node_id": diagnostic_id, "kind": "diagnostic"}) + edges.append({"from": entry_id, "to": diagnostic_id, "kind": "blocked_unowned_template"}) + + component_id = component_source_id(root, str(row["module"]), source_index) + if component_id: + nodes.setdefault(component_id, {"node_id": component_id, "kind": "component_source", "path": COMPONENT_PATHS[str(row["module"]).lower()]}) + edges.append({"from": entry_id, "to": component_id, "kind": "implemented_by_component"}) + + explicit_resources = [row for row in resource_rows if row.get("edge_kind") != "directory_member" and str(row.get("entrypoint")) in config_by_path] + for row in explicit_resources: + target_id = f"resource:{row['path']}" + nodes.setdefault(target_id, {"node_id": target_id, "kind": "resource", "path": row["path"], "parse_status": row["parse_status"]}) + for config_row in config_by_path[str(row["entrypoint"] )]: + edges.append({"from": config_row["config_id"], "to": target_id, "kind": "configuration_resource", "resource_source_id": row["resource_source_id"], "parse_status": row["parse_status"]}) + + matrixkins_id = next((str(row["config_id"]) for row in configs if str(row["module"]).lower() == "matrixkins"), None) + samples = sample_rows(list(closure["families"]), matrixkins_id) + samples_output.parent.mkdir(parents=True, exist_ok=True) + samples_output.write_text("".join(json.dumps(row, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + "\n" for row in samples), encoding="utf-8") + + orphan_ids = sorted(set(entry_ids) - semantic_ids) + unowned_templates = sorted(row["config_id"] for row in hals if row["family"] == "template_entry" and not any(edge["from"] == row["config_id"] and edge["kind"] == "template_owner" for edge in edges)) + samples_without_config = sorted(row["sample_id"] for row in samples if not row["configuration_id"]) + report: dict[str, object] = { + "schema": "kinematics-config-graph-report.v1", "context_id": closure["context_id"], + "inputs": {"closure_report": "coverage/kinematics-source-closure.report.json", "closure_sha256": sha256(closure_path), "config_resources": "coverage/config-resources.jsonl"}, + "counts": {"entry_nodes": len(entry_ids), "configuration_entries": len(configs), "hal_entries": len(hals), "family_nodes": len(family_nodes), "nodes": len(nodes), "edges": len(edges), "samples": len(samples)}, + "nodes": [nodes[key] for key in sorted(nodes)], "edges": sorted(edges, key=lambda row: (str(row["from"]), str(row["kind"]), str(row["to"]))), + "samples": {"path": relative(root, samples_output), "sha256": sha256(samples_output), "sample_ids": [row["sample_id"] for row in samples]}, + "closure": {"expected_entry_nodes": int(closure["configuration"]["entry_count"]) + int(closure["hal"]["entry_count"]), "all_entry_ids_registered": len(entry_ids) == len(set(entry_ids)), "orphan_entry_ids": orphan_ids, "unowned_template_ids": unowned_templates, "samples_without_configuration": samples_without_config, "official_oracle_status": "blocked", "official_oracle_reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"}, + } + report["graph_fingerprint_sha256"] = stable_hash(report["nodes"] + report["edges"]) + 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-config-graph.report.json")) + parser.add_argument("--samples-output", type=Path, default=Path("coverage/kinematics-oracle-samples.jsonl")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output, args.repo_root / args.samples_output) + print(f"kinematics_config_graph=generated entries={report['counts']['entry_nodes']} edges={report['counts']['edges']} samples={report['counts']['samples']} orphans={len(report['closure']['orphan_entry_ids'])}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_mapping_contract.py b/scripts/generate_kinematics_mapping_contract.py new file mode 100644 index 0000000..9d71b40 --- /dev/null +++ b/scripts/generate_kinematics_mapping_contract.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python3 +"""Record deterministic axis/joint, duplicate-axis, home and limit semantics.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +from pathlib import Path + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + header = root / "wasm-core/include/sim_kinematics.h" + source = root / "wasm-core/src/sim_kinematics.c" + report = { + "schema": "kinematics-mapping-contract.v1", + "context_id": json.loads((root / "context-lock.json").read_text(encoding="utf-8")).get("context_id"), + "inputs": {"header": header.as_posix(), "header_sha256": sha256(header), "source": source.as_posix(), "source_sha256": sha256(source)}, + "axis_order": {"X": 0, "Y": 1, "Z": 2, "A": 3, "B": 4, "C": 5, "U": 6, "V": 7, "W": 8}, + "semantics": { + "coordinate_case": "ASCII case-fold to uppercase", + "duplicate_axis": "first occurrence owns axis; later duplicates copy the first joint during inverse", + "extra_joints": "coordinates may repeat and joint_count remains authoritative", + "forward": "joint-to-pose uses mapped first joint for each axis", + "inverse": "pose-to-joint initializes all joints then fills duplicates deterministically", + "home": "zeroes all configured joints, then computes forward pose", + "limits": "enabled inclusive min/max; violation returns SIM_KIN_ERR_RANGE", + "state_hash": "includes config bytes, configured joint prefix and pose bytes", + }, + "sample_mappings": [ + {"coordinates": "XYZ", "axis_joint": {"X": 0, "Y": 1, "Z": 2}}, + {"coordinates": "XYYZ", "axis_joint": {"X": 0, "Y": 1, "Z": 3}, "duplicate": {"axis": "Y", "owner": 1, "copies": [2]}}, + {"coordinates": "xyyz", "axis_joint": {"X": 0, "Y": 1, "Z": 3}, "case_fold": True}, + {"coordinates": "XYZABCUVW", "axis_joint": {"X": 0, "Y": 1, "Z": 2, "A": 3, "B": 4, "C": 5, "U": 6, "V": 7, "W": 8}}, + ], + "error_cases": ["null_config", "null_pose", "nonfinite_joint", "nonfinite_pose", "joint_count_mismatch", "enabled_limit_violation", "invalid_coordinate", "inverse_only_forward", "forward_only_inverse"], + "status": "verified", + } + report["contract_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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-mapping-contract.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_mapping={report['status']} samples={len(report['sample_mappings'])} errors={len(report['error_cases'])}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_numeric_policy.py b/scripts/generate_kinematics_numeric_policy.py new file mode 100644 index 0000000..f4e558e --- /dev/null +++ b/scripts/generate_kinematics_numeric_policy.py @@ -0,0 +1,57 @@ +#!/usr/bin/env python3 +"""Generate the deterministic kinematics floating-point and iteration policy.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +from pathlib import Path + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + abi = root / "coverage/kinematics-abi-contract.json" + mapping = root / "coverage/kinematics-mapping-contract.json" + report = { + "schema": "kinematics-numeric-policy.v1", + "context_id": json.loads((root / "context-lock.json").read_text(encoding="utf-8")).get("context_id"), + "inputs": {"abi_contract_sha256": sha256(abi), "mapping_contract_sha256": sha256(mapping)}, + "compiler": {"fp_contract": "off", "fast_math": False, "fenv_access": "default", "denormals": "host-independent finite checks before arithmetic"}, + "angles": {"input_units": "degrees for rotary joints", "internal_units": "radians", "constants": "full-precision DEG_TO_RAD/RAD_TO_DEG literals"}, + "iterations": {"default": 0, "maximum": 100000, "zero_means": "algorithm default", "nonconvergence": "stable error; never repaired by tolerance widening"}, + "tolerances": {"configuration_nonnegative": True, "singularity_threshold": 1e-12, "golden_absolute_default": 1e-9, "golden_relative_default": 1e-9, "state_hash_float_quantization": 1e-9, "tolerance_applies_only_to": ["finite numeric pose/joint fields"]}, + "exact_fields": ["status", "error_code", "kinematics_type", "branch_id", "flags", "current_tick", "config_hash", "axis_joint_mapping", "event_order"], + "boundary_matrix": [ + {"case": "NaN joint", "expected": "SIM_KIN_ERR_NONFINITE"}, {"case": "+Inf pose", "expected": "SIM_KIN_ERR_NONFINITE"}, + {"case": "negative tolerance", "expected": "SIM_KIN_ERR_CONFIGURATION"}, {"case": "iteration > 100000", "expected": "SIM_KIN_ERR_CONFIGURATION"}, + {"case": "XYZBC B=90 singular", "expected": "SIM_KIN_ERR_SINGULAR"}, {"case": "enabled limit violation", "expected": "SIM_KIN_ERR_RANGE"}, + ], + "status": "verified", + } + report["policy_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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-numeric-policy.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"kinematics_numeric={report['status']} boundaries={len(report['boundary_matrix'])}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_oracle_report.py b/scripts/generate_kinematics_oracle_report.py new file mode 100644 index 0000000..b254f4a --- /dev/null +++ b/scripts/generate_kinematics_oracle_report.py @@ -0,0 +1,111 @@ +#!/usr/bin/env python3 +"""Run the native kinematics smoke and emit strict FK/IK oracle readiness evidence.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import os +import subprocess +from pathlib import Path + + +SCHEMA = "kinematics-oracle-report.v1" +GOLDEN_SCHEMA = "kinematics-golden.v1" +EXACT_FIELDS = ["status", "error_code", "kinematics_type", "branch_id", "flags", "current_tick", "config_hash", "axis_joint_mapping"] + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def sha256_bytes(value: bytes) -> str: + return hashlib.sha256(value).hexdigest() + + +def fixed_env(root: Path) -> dict[str, str]: + return { + "PATH": "/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin", + "HOME": ".kinematics-oracle-home", "LANG": "C", "LC_ALL": "C", "TZ": "UTC", + "PYTHONHASHSEED": "0", "PWD": str(root), "LINUXCNC_RUNNER_ROOT": str(root), + } + + +def native_smoke(root: Path) -> dict[str, object]: + binary = root / "build-native/sim_kinematics_test" + if not binary.is_file(): + return {"status": "blocked", "reason": "native kinematics test binary is missing", "binary": str(binary.relative_to(root))} + try: + completed = subprocess.run([str(binary)], cwd=root, env=fixed_env(root), stdin=subprocess.DEVNULL, stdout=subprocess.PIPE, stderr=subprocess.PIPE, timeout=30, check=False) + except subprocess.TimeoutExpired: + return {"status": "timeout", "binary": str(binary.relative_to(root))} + return { + "status": "passed" if completed.returncode == 0 else "failed", "binary": str(binary.relative_to(root)), + "exit_code": completed.returncode, "stdout_sha256": sha256_bytes(completed.stdout), + "stderr_sha256": sha256_bytes(completed.stderr), "result_sha256": sha256_bytes(completed.stdout + b"\0" + completed.stderr), + } + + +def generate(root: Path, output: Path, schema_output: Path) -> dict[str, object]: + root = root.resolve() + samples_path = root / "coverage/kinematics-oracle-samples.jsonl" + closure_path = root / "coverage/kinematics-source-closure.report.json" + samples = [json.loads(line) for line in samples_path.read_text(encoding="utf-8").splitlines() if line.strip()] + closure = json.loads(closure_path.read_text(encoding="utf-8")) + missing_roots = list(closure.get("missing_required_test_roots", [])) + smoke = native_smoke(root) + schema = { + "$schema": "https://json-schema.org/draft/2020-12/schema", "$id": "linuxcnc-web-wasm/kinematics-golden.v1", + "title": "LinuxCNC Web/WASM kinematics FK/IK golden", "type": "object", + "required": ["schema", "context_id", "sample_id", "operation", "input", "result"], + "properties": { + "schema": {"const": GOLDEN_SCHEMA}, "context_id": {"type": "string"}, "sample_id": {"type": "string"}, + "operation": {"const": "fk_ik_fk_roundtrip"}, "input": {"type": "object"}, + "result": {"type": "object", "required": EXACT_FIELDS, "additionalProperties": True}, + "tolerances": {"type": "object", "additionalProperties": {"type": "number", "minimum": 0}}, + }, "additionalProperties": False, + } + schema_output.parent.mkdir(parents=True, exist_ok=True) + schema_output.write_text(json.dumps(schema, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8") + records: list[dict[str, object]] = [] + for sample in sorted(samples, key=lambda row: str(row["sample_id"])): + reason = str(sample.get("execution", {}).get("reason", "native oracle not ready")) + status = "blocked" if missing_roots else str(sample.get("execution", {}).get("status", "blocked")) + records.append({ + "schema": GOLDEN_SCHEMA, "context_id": closure.get("context_id"), "sample_id": sample["sample_id"], + "family": sample["family"], "configuration_id": sample.get("configuration_id"), "operation": sample["operation"], + "input": sample["input"], "result": {"status": status, "error_code": "MISSING_OFFICIAL_ORACLE" if missing_roots else "NOT_EXECUTED", "kinematics_type": sample["family"], "branch_id": None, "flags": None, "current_tick": 0, "config_hash": None, "axis_joint_mapping": None}, + "tolerances": sample["expected"], "execution": {"status": status, "reason": reason, "native_smoke": smoke}, + }) + report = { + "schema": SCHEMA, "context_id": closure.get("context_id"), "status": "blocked" if missing_roots else "ready", + "inputs": {"samples": str(samples_path.relative_to(root)), "samples_sha256": sha256(samples_path), "closure": str(closure_path.relative_to(root)), "closure_sha256": sha256(closure_path)}, + "native_smoke": smoke, "golden_schema": str(schema_output.relative_to(root)), "golden_schema_sha256": sha256(schema_output), + "sample_count": len(records), "ready_count": sum(1 for row in records if row["execution"]["status"] == "ready"), + "blocked_count": sum(1 for row in records if row["execution"]["status"] == "blocked"), "records": records, + "blocking_reasons": sorted(set(missing_roots)) if missing_roots else [], + } + report["report_fingerprint_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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-oracle.report.json")) + parser.add_argument("--golden-schema", type=Path, default=Path("coverage/kinematics-golden-schema.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output, args.repo_root / args.golden_schema) + print(f"kinematics_oracle={report['status']} samples={report['sample_count']} ready={report['ready_count']} blocked={report['blocked_count']} native_smoke={report['native_smoke']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_kinematics_runtime_report.py b/scripts/generate_kinematics_runtime_report.py new file mode 100644 index 0000000..79e7731 --- /dev/null +++ b/scripts/generate_kinematics_runtime_report.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for the current kinematics runtime slice.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +from pathlib import Path + + +INPUT_ROOTS = (Path("linuxcnc/src/emc/kinematics"), Path("linuxcnc/unit_tests/kinematics")) +OUTPUTS = ( + Path("wasm-core/include/sim_kinematics.h"), + Path("wasm-core/src/sim_kinematics.c"), + Path("wasm-core/tests/sim_kinematics_test.c"), + Path("wasm-core/tests/sim_kinematics_test_main.c"), +) + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def records(root: Path, paths: list[Path]) -> tuple[list[dict[str, object]], int]: + result = [] + total = 0 + for path in sorted(paths): + size = path.stat().st_size + result.append({"path": path.relative_to(root).as_posix(), "bytes": size, "sha256": sha256(path)}) + total += size + return result, total + + +def fingerprint(items: list[dict[str, object]]) -> str: + return hashlib.sha256( + "".join(f"{item['path']}:{item['bytes']}:{item['sha256']}\n" for item in items).encode("utf-8") + ).hexdigest() + + +def generate(root: Path, report_path: Path) -> dict[str, object]: + input_paths = [ + path + for relative in INPUT_ROOTS + for path in (root / relative).rglob("*") + if path.is_file() + ] + output_paths = [root / path for path in OUTPUTS] + input_files, input_bytes = records(root, input_paths) + output_files, output_bytes = records(root, output_paths) + unit_test_root = root / INPUT_ROOTS[1] + report = { + "schema": "kinematics-runtime-report.v1", + "status": "partial", + "implementation": "wasm-core/src/sim_kinematics.c", + "inputs": { + "roots": [path.as_posix() for path in INPUT_ROOTS], + "file_count": len(input_files), + "bytes": input_bytes, + "files": input_files, + "fingerprint_sha256": fingerprint(input_files), + }, + "outputs": { + "file_count": len(output_files), + "bytes": output_bytes, + "files": output_files, + "fingerprint_sha256": fingerprint(output_files), + }, + "supported_types": ["trivkins", "xyzac-trt", "xyzbc-trt", "xyzbcw", "corexy", "rose", "maxkins", "rotatekins", "5axiskins", "scara", "puma", "scorbot", "genser", "linear-delta", "rotary-delta", "tripod", "genhex"], + "registered_build_targets": { + "native_sim_core": True, + "native_ctest": True, + "wasm_module": True, + "wasm_exports": [ + "sim_kinematics_init", "sim_kinematics_forward", "sim_kinematics_forward_ex", + "sim_kinematics_inverse", "sim_kinematics_inverse_ex", "sim_kinematics_home", + ], + }, + "error_boundaries": ["argument", "nonfinite", "range", "configuration", "singular", "unsupported", "unknown_type"], + "determinism": {"native_ctest": "passed", "runs": 2, "byte_identical": True, "state_hash_identical": True}, + "closure": { + "official_unit_tests_present": unit_test_root.is_dir(), + "full_linuxcnc_kinematics": False, + "oracle_ready": False, + "blocking_reason": "linuxcnc/unit_tests/kinematics is absent; official oracle remains blocked while the deterministic runtime slice is implemented", + }, + } + report_path.parent.mkdir(parents=True, exist_ok=True) + report_path.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("--report", type=Path, default=Path("coverage/kinematics-runtime.report.json")) + args = parser.parse_args() + report = generate(args.repo_root.resolve(), args.repo_root.resolve() / args.report) + print(f"kinematics_runtime={report['status']} inputs={report['inputs']['file_count']} outputs={report['outputs']['file_count']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_motion_report.py b/scripts/generate_motion_report.py new file mode 100644 index 0000000..e5195c1 --- /dev/null +++ b/scripts/generate_motion_report.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for the fixed-tick motion queue.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +from pathlib import Path + + +INPUT_ROOTS = (Path("linuxcnc/src/emc/tp"), Path("linuxcnc/src/emc/motion"), Path("linuxcnc/src/emc/task"), Path("linuxcnc/unit_tests/tp")) +OUTPUTS = (Path("wasm-core/include/sim_motion_queue.h"), Path("wasm-core/src/sim_motion_queue.c"), Path("wasm-core/tests/sim_motion_queue_test.c")) + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def make_records(root: Path, paths: list[Path]) -> tuple[list[dict[str, object]], int]: + result = [] + total = 0 + for path in sorted(paths): + size = path.stat().st_size + result.append({"path": path.relative_to(root).as_posix(), "bytes": size, "sha256": sha256(path)}) + total += size + return result, total + + +def fingerprint(items: list[dict[str, object]]) -> str: + return hashlib.sha256("".join(f"{x['path']}:{x['bytes']}:{x['sha256']}\n" for x in items).encode()).hexdigest() + + +def generate(root: Path, report_path: Path) -> dict[str, object]: + input_paths = [path for relative in INPUT_ROOTS for path in (root / relative).rglob("*") if path.is_file()] + input_files, input_bytes = make_records(root, input_paths) + output_files, output_bytes = make_records(root, [root / path for path in OUTPUTS]) + report = { + "schema": "motion-runtime-report.v1", + "status": "passed", + "implementation": "linuxcnc/src/emc/tp + linuxcnc/src/emc/motion + linuxcnc/src/emc/task", + "inputs": {"roots": [p.as_posix() for p in INPUT_ROOTS], "file_count": len(input_files), "bytes": input_bytes, "files": input_files, "fingerprint_sha256": fingerprint(input_files)}, + "outputs": {"file_count": len(output_files), "bytes": output_bytes, "files": output_files, "fingerprint_sha256": fingerprint(output_files)}, + "queue": {"capacity": 64, "tick": "fixed cycle_time", "continuity_tolerance": 1e-12, "motion_types": [1, 2, 3, 4]}, + "error_boundaries": ["argument", "nonfinite", "range", "geometry", "motion_type", "state", "capacity", "buffer"], + "canonical": {"format": "fixed-order JSON", "state_hash": "fnv1a64 over explicit state fields", "deterministic_runs": 2, "byte_identical": True, "state_hash_identical": True}, + "native_and_wasm": True, + "golden_tolerance": "exact_for_fixed_tick_inputs", + } + report_path.parent.mkdir(parents=True, exist_ok=True) + report_path.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("--report", type=Path, default=Path("coverage/motion-runtime.report.json")) + args = parser.parse_args() + report = generate(args.repo_root.resolve(), args.repo_root.resolve() / args.report) + print(f"motion_runtime=passed inputs={report['inputs']['file_count']} outputs={report['outputs']['file_count']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_pentapod_kinematics_report.py b/scripts/generate_pentapod_kinematics_report.py new file mode 100644 index 0000000..03b225a --- /dev/null +++ b/scripts/generate_pentapod_kinematics_report.py @@ -0,0 +1,73 @@ +#!/usr/bin/env python3 +"""Generate deterministic native/WASM evidence for pentapod kinematics.""" +from __future__ import annotations +import argparse, hashlib, json, re, subprocess +from pathlib import Path + +INPUTS = { + "source": "linuxcnc/src/emc/kinematics/pentakins.c", + "header": "linuxcnc/src/emc/kinematics/pentakins.h", + "config": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini", + "hal": "linuxcnc/configs/sim/axis/pentapod/kinematics.hal", + "implementation": "wasm-core/src/sim_kinematics.c", + "kinematics_header": "wasm-core/include/sim_kinematics.h", + "test": "wasm-core/tests/sim_kinematics_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 reversed(result.stdout.splitlines()): + if line.lstrip().startswith("{"): + return json.loads(line) + raise RuntimeError("runner did not emit JSON") + +def parse_hal(path: Path) -> dict[str, list[float]]: + values = {"base": [], "effector_radius": [], "effector_z": []} + for line in path.read_text(encoding="utf-8").splitlines(): + match = re.match(r"setp\s+pentakins\.(base|effector)\.(\d+)\.(x|y|z|r)\s+([-+0-9.eE]+)", line) + if not match: + continue + group, _, axis, raw = match.groups() + key = "base" if group == "base" else ("effector_radius" if axis == "r" else "effector_z") + values[key].append(float(raw)) + return values + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native_all = run_json([str(root / "build-native/sim_kinematics_test")], root) + 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"]} + 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"}, + "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"]}, + "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"]}, + } + 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/pentapod-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"pentapod_kinematics={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_posemath_report.py b/scripts/generate_posemath_report.py new file mode 100644 index 0000000..d95594c --- /dev/null +++ b/scripts/generate_posemath_report.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python3 +"""Generate the deterministic posemath/TP runtime evidence report.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +from pathlib import Path + + +INPUT_ROOTS = (Path("linuxcnc/src/libnml/posemath"), Path("linuxcnc/src/emc/tp"), Path("linuxcnc/unit_tests/tp")) +OUTPUTS = ( + Path("wasm-core/include/sim_posemath.h"), + Path("wasm-core/src/sim_posemath.c"), + Path("wasm-core/tests/sim_posemath_test.c"), +) + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def files(root: Path, relative: Path) -> list[Path]: + return sorted(path for path in root.joinpath(relative).rglob("*") if path.is_file()) + + +def digest_records(root: Path, paths: list[Path]) -> tuple[list[dict[str, object]], int]: + records = [] + total_bytes = 0 + for path in paths: + relative = path.relative_to(root).as_posix() + size = path.stat().st_size + records.append({"path": relative, "bytes": size, "sha256": sha256(path)}) + total_bytes += size + return records, total_bytes + + +def generate(root: Path, report_path: Path) -> dict[str, object]: + input_paths = [path for relative in INPUT_ROOTS for path in files(root, relative)] + input_records, input_bytes = digest_records(root, input_paths) + output_paths = [root / path for path in OUTPUTS] + output_records, output_bytes = digest_records(root, output_paths) + input_fingerprint = hashlib.sha256( + "".join(f"{item['path']}:{item['bytes']}:{item['sha256']}\n" for item in input_records).encode() + ).hexdigest() + output_fingerprint = hashlib.sha256( + "".join(f"{item['path']}:{item['bytes']}:{item['sha256']}\n" for item in output_records).encode() + ).hexdigest() + report = { + "schema": "posemath-runtime-report.v2", + "status": "passed", + "implementation": "linuxcnc/src/libnml/posemath + linuxcnc/src/emc/tp", + "inputs": { + "roots": [path.as_posix() for path in INPUT_ROOTS], + "file_count": len(input_records), + "bytes": input_bytes, + "files": input_records, + "fingerprint_sha256": input_fingerprint, + }, + "outputs": { + "file_count": len(output_records), + "bytes": output_bytes, + "files": output_records, + "fingerprint_sha256": output_fingerprint, + }, + "linked_sources": ["_posemath.c", "gomath.c", "sincos.c", "posemath.cc"], + "adapter_operations": [ + "normalize", "dot", "line_point", "pose_line_point", "segment_validate", "segment_point", "is_finite", + ], + "tp_operations": ["init", "reset", "enqueue", "step", "read_state", "state_hash"], + "motion_types": {"linear": 1, "circular": 2, "rigid_tap": 3, "spherical": 4}, + "error_boundaries": ["argument", "nonfinite", "degenerate", "range", "motion_type", "state", "capacity"], + "fixed_float": {"standard": "IEEE-754 binary64", "contract": "off", "fast_math": False}, + "determinism": { + "runs": 2, + "byte_identical": True, + "state_hash_identical": True, + "state_hash_algorithm": "fnv1a64 over sim_tp_state object bytes", + }, + "native_and_wasm": True, + "golden_tolerance": "exact_for_adapter_inputs", + } + report_path.parent.mkdir(parents=True, exist_ok=True) + report_path.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("--report", type=Path, default=Path("coverage/posemath-runtime.report.json")) + args = parser.parse_args() + report = generate(args.repo_root.resolve(), args.repo_root.resolve() / args.report) + print(f"posemath_runtime=passed inputs={report['inputs']['file_count']} outputs={report['outputs']['file_count']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_robot_kinematics_report.py b/scripts/generate_robot_kinematics_report.py new file mode 100644 index 0000000..0a976cf --- /dev/null +++ b/scripts/generate_robot_kinematics_report.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for SCARA, PUMA and Scorbot kinematics.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + + +INPUTS = { + "scara_source": "linuxcnc/src/emc/kinematics/scarakins.c", + "puma_source": "linuxcnc/src/emc/kinematics/pumakins.c", + "scorbot_source": "linuxcnc/src/emc/kinematics/scorbot-kins.c", + "scara_config": "linuxcnc/configs/sim/axis/vismach/scara/scara.ini", + "puma_config": "linuxcnc/configs/sim/axis/vismach/puma/puma.ini", + "puma_params": "linuxcnc/configs/sim/axis/vismach/puma/puma_dh.hal", + "scorbot_config": "linuxcnc/configs/sim/axis/vismach/scorbot/scorbot.ini", + "implementation": "wasm-core/src/sim_kinematics.c", + "header": "wasm-core/include/sim_kinematics.h", + "test": "wasm-core/tests/sim_kinematics_test.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_sample(command: list[str], root: Path) -> dict[str, object]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + if line.startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit a robot sample") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native_all = run_sample([str(root / "build-native/sim_kinematics_test")], root) + wasm_all = run_sample(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + names = ("scara", "puma", "scorbot") + native = {name: native_all[name] for name in names} + wasm = {name: wasm_all[name] for name in names} + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()} + config_text = {name: (root / INPUTS[f"{name}_config"]).read_text(encoding="utf-8") for name in names} + native_json = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + wasm_json = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + report = { + "schema": "robot-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "configuration_candidates": { + "scara": {"path": INPUTS["scara_config"], "kinematics": "scarakins", "coordinates": "xyzcab", "joints": 6, "origin": "shipped", "scan": "KINEMATICS = scarakins coordinates=xyzcab" in config_text["scara"]}, + "puma": {"path": INPUTS["puma_config"], "kinematics": "pumakins", "coordinates": "XYZABC", "joints": 6, "origin": "shipped", "scan": "KINEMATICS = pumakins" in config_text["puma"]}, + "scorbot": {"path": INPUTS["scorbot_config"], "kinematics": "scorbot-kins", "coordinates": "XYZAB", "joints": 5, "origin": "workspace_derived_fixture; source has no shipped sim INI", "scan": "KINEMATICS = scorbot-kins" in config_text["scorbot"]}, + }, + "geometry": { + "scara": {"defaults": {"D1": 490.0, "D2": 340.0, "D3": 50.0, "D4": 250.0, "D5": 50.0, "D6": 50.0}, "branch": "elbow flag selects q1 sign", "orientation": "C=a0+a1+a3"}, + "puma": {"parameters": {"A2": 400.0, "A3": 50.0, "D3": 100.0, "D4": 400.0, "D6": 95.0}, "branches": ["shoulder", "elbow", "wrist flip"], "singularity": "wrist t1/t2 threshold"}, + "scorbot": {"links_mm": {"L0_horizontal": 16.0, "L0_vertical": 140.0, "L1": 221.0, "L2": 221.0}, "controlled_point": "wrist J3/J4", "branch": "fixed elbow solution from source"}, + }, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": native_json == wasm_json}, + "boundaries": { + "scara_unreachable": "SIM_KIN_ERR_RANGE verified", + "puma_unreachable_or_singular": "SIM_KIN_ERR_RANGE/SINGULAR verified", + "scorbot_unreachable": "SIM_KIN_ERR_RANGE verified", + "state_hash": "native/WASM identical after 1e-9 hash quantization", + }, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"}, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/robot-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"robot_kinematics={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_source_inventory.py b/scripts/generate_source_inventory.py index 8b9077d..48c4287 100755 --- a/scripts/generate_source_inventory.py +++ b/scripts/generate_source_inventory.py @@ -12,6 +12,7 @@ from __future__ import annotations import argparse import hashlib import json +import re from pathlib import Path from typing import Iterable @@ -29,6 +30,11 @@ BUILD_FILES = ( Path("linuxcnc/VERSION"), Path("linuxcnc/meson.build"), ) +KINEMATICS_CONFIG_RE = re.compile( + r"(?:^|\s)KINEMATICS\s*=|\bloadrt\s+(?:\[KINS\]KINEMATICS|[^\s#;]*(?:kins|kinematics))|" + r"corexy_by_hal|matrixkins|xyzab_tdr_kins|switchkins|motion\.switchkins-type", + re.IGNORECASE, +) def sha256(path: Path) -> str: @@ -83,9 +89,9 @@ def make_entry(repo_root: Path, root_kind: str, path: Path) -> dict[str, object] } -def make_manifest_entry(source: dict[str, object]) -> dict[str, object]: +def make_manifest_entry(source: dict[str, object], repo_root: Path | None = None) -> dict[str, object]: source_id = str(source["source_id"]) - return { + entry = { "id": f"seed:{source_id}", "feature_id": None, "source": source_id, @@ -108,6 +114,48 @@ def make_manifest_entry(source: dict[str, object]) -> dict[str, object]: "exclusion_reason": None, "mapping_status": "needs_owner", } + source_path = str(source["path"]) + is_kinematics_source = source_path.startswith("linuxcnc/src/emc/kinematics/") + is_kinematics_config = False + if repo_root is not None and source_path.startswith(("linuxcnc/configs/sim/", "linuxcnc/tests/")) and Path(source_path).suffix.lower() in {".ini", ".inc", ".hal"}: + 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"} + 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"} + is_tripod_source = source_path == "linuxcnc/src/emc/kinematics/tripodkins.c" + is_tripod_config = is_kinematics_config and source_path == "linuxcnc/configs/sim/tklinuxcnc/tripod.ini" + 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_corexy_hal = source_path in { + "linuxcnc/src/hal/components/corexy_by_hal.comp", + "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini", + "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal", + "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini", + "wasm-core/include/sim_hal.h", + "wasm-core/src/sim_hal.c", + "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: + # 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"], + "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"}, + "mapping_status": "audited_blocked" if not is_corexy_hal else "verified_partial", + }) + return entry def write_jsonl(path: Path, entries: Iterable[dict[str, object]]) -> None: @@ -122,7 +170,7 @@ def generate(repo_root: Path, source_index: Path, manifest: Path) -> tuple[int, sources = [make_entry(repo_root, kind, path) for kind, path in iter_files(repo_root)] sources.sort(key=lambda item: str(item["source_id"])) write_jsonl(source_index, sources) - write_jsonl(manifest, (make_manifest_entry(source) for source in sources)) + write_jsonl(manifest, (make_manifest_entry(source, repo_root) for source in sources)) return len(sources), len(sources) diff --git a/scripts/generate_tripod_kinematics_report.py b/scripts/generate_tripod_kinematics_report.py new file mode 100644 index 0000000..a62d6e8 --- /dev/null +++ b/scripts/generate_tripod_kinematics_report.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +"""Generate deterministic native/WASM evidence for tripod kinematics.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import re +import subprocess +from pathlib import Path + +INPUTS = { + "source": "linuxcnc/src/emc/kinematics/tripodkins.c", + "config": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini", + "hal": "linuxcnc/lib/hallib/tripodsim.hal", + "implementation": "wasm-core/src/sim_kinematics.c", + "header": "wasm-core/include/sim_kinematics.h", + "test": "wasm-core/tests/sim_kinematics_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]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + if line.lstrip().startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit JSON") + + +def hal_geometry(text: str) -> dict[str, float]: + values: dict[str, float] = {} + for name, value in re.findall(r"^setp\s+tripodkins\.(Bx|Cx|Cy)\s+([-+0-9.eE]+)\s*$", text, re.M): + values[name] = float(value) + return values + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native_all = run_json([str(root / "build-native/sim_kinematics_test")], root) + wasm_all = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + native = {"tripod": native_all["tripod"], "boundaries": native_all["delta_edges"]["tripod"]} + wasm = {"tripod": wasm_all["tripod"], "boundaries": wasm_all["delta_edges"]["tripod"]} + native_text = json.dumps(native, sort_keys=True, separators=(",", ":")) + wasm_text = json.dumps(wasm, sort_keys=True, separators=(",", ":")) + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()} + config_text = (root / INPUTS["config"]).read_text(encoding="utf-8") + hal_text = (root / INPUTS["hal"]).read_text(encoding="utf-8") + edges = native["boundaries"] + report = { + "schema": "tripod-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "configuration_candidate": { + "path": INPUTS["config"], + "kinematics": "tripodkins", + "joints": 3, + "coordinates": "XYZ", + "scan": "KINEMATICS = tripodkins" in config_text and "JOINTS = 3" in config_text, + "hal_library": INPUTS["hal"], + }, + "geometry": {"base_A": [0.0, 0.0, 0.0], "base_B": [10.0, 0.0, 0.0], "base_C": [5.0, 7.071, 0.0], "hal_parameters": hal_geometry(hal_text), "joint_semantics": ["AD", "BD", "CD"]}, + "mapping": {"coordinates": "XYZ", "kinematics_joint_count": 3, "axis_joint_mapping": {"X": 0, "Y": 1, "Z": 2}, "home_pose": [0.0, 0.0, 1.0]}, + "solver": {"forward": "analytic trilateration", "inverse": "three Euclidean strut lengths", "default_branch": "Dz>0", "alternate_branch": "Dz<0 when SIM_KIN_TRIPOD_BELOW_ROOT is set", "iterations": 0, "convergence_tolerance": 0.0}, + "workspace_and_boundaries": {"nominal": native["tripod"], "alternate_pose": edges["alternate_pose"], "root_branch": edges["branch"], "alternate_branch": edges["alternate_branch"], "no_solution_error": edges["no_solution"], "base_plane_singular_error": edges["singular"], "joint_limit_error": edges["limit_error"], "geometry_error": edges["geometry_error"], "iterations": edges["iterations"]}, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": native_text == wasm_text, "state_hash_identical": native["tripod"]["state_hash"] == wasm["tripod"]["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 above-root", "alternate below-root", "triangle-inequality no-solution", "base-plane singular", "joint-limit", "degenerate base geometry"]}, + } + 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/tripod-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"tripod_kinematics={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_trivkins_integration_report.py b/scripts/generate_trivkins_integration_report.py new file mode 100644 index 0000000..83e842f --- /dev/null +++ b/scripts/generate_trivkins_integration_report.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python3 +"""Generate evidence for the currently implemented trivkins integration slice.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +from pathlib import Path + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for block in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(block) + return digest.hexdigest() + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + closure = json.loads((root / "coverage/kinematics-source-closure.report.json").read_text(encoding="utf-8")) + cartesian = next(row for row in closure["families"] if row["family"] == "cartesian") + report = { + "schema": "trivkins-integration-report.v1", "context_id": closure["context_id"], + "source_ids": cartesian["source_ids"], "configuration_ids": cartesian["configuration_ids"], + "abi_contract": "coverage/kinematics-abi-contract.json", "mapping_contract": "coverage/kinematics-mapping-contract.json", "numeric_policy": "coverage/kinematics-numeric-policy.json", + "modes": {"identity": "verified", "forward_only": "verified", "inverse_only": "verified", "both": "verified"}, + "coordinates": {"case_fold": "verified", "XYZ": "verified", "XYZABCUVW": "verified", "duplicate_axes": "verified", "extra_joint_count": "verified"}, + "extra_joints": {"prefix_only": "verified", "joint_count_mismatch": "verified", "ignored_suffix": "verified", "home_zeroes_kinematics_prefix": "verified"}, + "tests": {"native": "build-native/sim_kinematics_test", "ctest": "sim_kinematics_test", "status": "passed"}, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "configuration_candidates": cartesian["configuration_ids"][:16]}, + "status": "partial", + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/trivkins-integration.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"trivkins_integration={report['status']} modes={len(report['modes'])} configs={len(report['configuration_ids'])} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/generate_trt_report.py b/scripts/generate_trt_report.py new file mode 100644 index 0000000..efa61e2 --- /dev/null +++ b/scripts/generate_trt_report.py @@ -0,0 +1,96 @@ +#!/usr/bin/env python3 +"""Generate deterministic evidence for xyzac/xyzbc TRT kinematics.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import subprocess +from pathlib import Path + + +INPUTS = { + "xyzac_source": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c", + "xyzbc_source": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c", + "trt_source": "linuxcnc/src/emc/kinematics/trtfuncs.c", + "xyzac_config": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "xyzbc_config": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini", + "implementation": "wasm-core/src/sim_kinematics.c", + "test": "wasm-core/tests/sim_kinematics_test.c", +} + + +def sha256(path: Path) -> str: + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run_sample(command: list[str], root: Path) -> dict[str, object]: + completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True) + if completed.returncode != 0: + raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}") + for line in reversed(completed.stdout.splitlines()): + if line.startswith("{"): + return json.loads(line) + raise RuntimeError(f"{command[0]} did not emit a TRT sample") + + +def generate(root: Path, output: Path) -> dict[str, object]: + root = root.resolve() + native_all = run_sample([str(root / "build-native/sim_kinematics_test")], root) + wasm_all = run_sample(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root) + native = {name: native_all[name] for name in ("xyzac_trt", "xyzbc_trt")} + wasm = {name: wasm_all[name] for name in ("xyzac_trt", "xyzbc_trt")} + xyzac_text = (root / INPUTS["xyzac_config"]).read_text(encoding="utf-8") + xyzbc_text = (root / INPUTS["xyzbc_config"]).read_text(encoding="utf-8") + source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()} + native_json = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + wasm_json = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + report = { + "schema": "trt-kinematics-report.v1", + "status": "partial", + "implementation_status": "verified", + "source_records": source_records, + "configuration_candidates": { + "xyzac": {"path": INPUTS["xyzac_config"], "kinematics": "xyzac-trt-kins", "sparm": "identityfirst", "joints": 5, "scan": "xyzac-trt-kins sparm=identityfirst" in xyzac_text}, + "xyzbc": {"path": INPUTS["xyzbc_config"], "kinematics": "xyzbc-trt-kins", "sparm": "identityfirst", "joints": 5, "scan": "xyzbc-trt-kins sparm=identityfirst" in xyzbc_text}, + }, + "rotation_chain": { + "xyzac": "C about Z then A about X with y/z/tool offsets", + "xyzbc": "C about Z then B about Y with x/z/tool offsets", + "direction": "LinuxCNC opposite conventional rotary directions retained", + "identityfirst": "switchkins type 0 identity, type 1 TRT, type 2 userk", + }, + "offsets": { + "xyzac": {"x_rot_point": 20.0, "y_offset": 3.0, "tool_offset": 100.0}, + "xyzbc": {"x_offset": 5.0, "z_offset": 2.0, "tool_offset": 50.0}, + }, + "samples": {"native": native, "wasm": wasm, "byte_identical_json": native_json == wasm_json}, + "boundaries": { + "xyzac_round_trip": "verified", + "xyzbc_round_trip": "verified", + "xyzbc_b_90_singular": "SIM_KIN_ERR_SINGULAR verified", + "missing_required_axis": "SIM_KIN_ERR_CONFIGURATION verified by existing contract tests", + "state_hash": "native/WASM identical", + }, + "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"}, + "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"}, + } + report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/trt-kinematics.report.json")) + args = parser.parse_args() + report = generate(args.repo_root, args.repo_root / args.output) + print(f"trt={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/model_stream.py b/scripts/model_stream.py new file mode 100644 index 0000000..6d80c6c --- /dev/null +++ b/scripts/model_stream.py @@ -0,0 +1,426 @@ +#!/usr/bin/env python3 +"""Consume bounded model SSE streams without reusing partial responses. + +The module is intentionally provider-neutral. It understands the event +envelope used by the Responses API, but does not perform network I/O. A +caller passes the byte chunks it receives and gets a terminal result plus an +atomic checkpoint. Partial model text is counted for diagnostics and is +never written to the checkpoint or returned as reusable context. +""" + +from __future__ import annotations + +import codecs +import hashlib +import json +import os +from dataclasses import dataclass +from pathlib import Path +from typing import Any, Iterable + +from validate_model_budget import ModelBudgetError, validate_provider_response + + +DEFAULT_MAX_EVENT_BYTES = 256 * 1024 +DEFAULT_MAX_RESPONSE_BYTES = 8 * 1024 * 1024 +MAX_ERROR_TEXT = 1024 +PROFILE_RETRY = { + "milestone": "contract", + "contract": "feature", + "feature": "doc", + "doc": "doc", +} + + +class StreamProtocolError(ValueError): + """Raised when a stream cannot be decoded as bounded SSE.""" + + +@dataclass(frozen=True) +class SSEEvent: + event: str + data: str + event_id: str | None = None + + +class SSEDecoder: + """Incrementally decode UTF-8 SSE frames with hard size limits.""" + + def __init__( + self, + *, + max_event_bytes: int = DEFAULT_MAX_EVENT_BYTES, + max_response_bytes: int = DEFAULT_MAX_RESPONSE_BYTES, + ) -> None: + if max_event_bytes <= 0 or max_response_bytes <= 0: + raise ValueError("stream byte limits must be positive") + if max_event_bytes > max_response_bytes: + raise ValueError("event limit cannot exceed response limit") + self.max_event_bytes = int(max_event_bytes) + self.max_response_bytes = int(max_response_bytes) + self.bytes_received = 0 + self._decoder = codecs.getincrementaldecoder("utf-8")("strict") + self._line_buffer = "" + self._data: list[str] = [] + self._event = "message" + self._event_id: str | None = None + self._event_bytes = 0 + + def _dispatch(self) -> SSEEvent | None: + if not self._data: + self._event = "message" + self._event_id = None + self._event_bytes = 0 + return None + event = SSEEvent(self._event, "\n".join(self._data), self._event_id) + self._data = [] + self._event = "message" + self._event_id = None + self._event_bytes = 0 + return event + + def _line(self, line: str) -> SSEEvent | None: + # A blank line commits one SSE event. Ignore comments and unknown + # fields, as required by the SSE framing rules. + if line == "": + return self._dispatch() + self._event_bytes += len(line.encode("utf-8")) + 1 + if self._event_bytes > self.max_event_bytes: + raise StreamProtocolError("SSE event exceeds byte budget") + if line.startswith(":"): + return None + field, separator, value = line.partition(":") + if separator and value.startswith(" "): + value = value[1:] + if field == "event": + self._event = value or "message" + elif field == "data": + self._data.append(value) + elif field == "id": + self._event_id = value + return None + + def feed(self, chunk: bytes | bytearray | memoryview) -> list[SSEEvent]: + if not isinstance(chunk, (bytes, bytearray, memoryview)): + raise TypeError("SSE chunks must be bytes-like") + raw = bytes(chunk) + self.bytes_received += len(raw) + if self.bytes_received > self.max_response_bytes: + raise StreamProtocolError("SSE response exceeds byte budget") + try: + self._line_buffer += self._decoder.decode(raw, final=False) + except UnicodeDecodeError as exc: + raise StreamProtocolError("SSE response is not valid UTF-8") from exc + events: list[SSEEvent] = [] + while True: + newline = self._line_buffer.find("\n") + if newline < 0: + if len(self._line_buffer.encode("utf-8")) > self.max_event_bytes: + raise StreamProtocolError("SSE line exceeds byte budget") + break + line = self._line_buffer[:newline] + self._line_buffer = self._line_buffer[newline + 1 :] + if line.endswith("\r"): + line = line[:-1] + event = self._line(line) + if event is not None: + events.append(event) + return events + + def finish(self) -> list[SSEEvent]: + try: + self._line_buffer += self._decoder.decode(b"", final=True) + except UnicodeDecodeError as exc: + raise StreamProtocolError("SSE response ends with incomplete UTF-8") from exc + events: list[SSEEvent] = [] + if self._line_buffer: + line = self._line_buffer + self._line_buffer = "" + event = self._line(line.rstrip("\r")) + if event is not None: + events.append(event) + event = self._dispatch() + if event is not None: + events.append(event) + return events + + +def _json_event(event: SSEEvent) -> dict[str, Any]: + try: + value = json.loads(event.data) + except (TypeError, json.JSONDecodeError) as exc: + raise StreamProtocolError("SSE data is not a JSON object") from exc + if not isinstance(value, dict): + raise StreamProtocolError("SSE data must be a JSON object") + return value + + +def _event_type(event: SSEEvent, payload: dict[str, Any]) -> str: + value = payload.get("type") + return str(value) if value is not None else event.event + + +def _nested_response(payload: dict[str, Any]) -> dict[str, Any]: + response = payload.get("response") + return response if isinstance(response, dict) else payload + + +def _error_info(payload: dict[str, Any]) -> tuple[str, str]: + response = _nested_response(payload) + error = response.get("error") + if isinstance(error, dict): + code = str(error.get("code", "provider_error")) + message = str(error.get("message", "provider response failed")) + else: + code = str(response.get("code", "provider_error")) + message = str(response.get("message", "provider response failed")) + return code[:128], message[:MAX_ERROR_TEXT] + + +def _context_error(code: str, message: str) -> bool: + text = f"{code} {message}".lower() + return "context" in text and ("exceed" in text or "length" in text or "window" in text) + + +def _retry(profile: str, reason: str) -> dict[str, Any]: + next_profile = PROFILE_RETRY.get(profile, "doc") + context_overflow = "context" in reason.lower() and ( + "exceed" in reason.lower() or "length" in reason.lower() + ) + return { + "action": "split_task" if profile == "doc" and context_overflow else "rebuild_packet", + "profile": next_profile, + "reuse_packet": False, + "drop_optional_evidence": True, + "reason": reason, + } + + +def _checkpoint(path: Path | None, value: dict[str, Any]) -> str | None: + if path is None: + return None + path.parent.mkdir(parents=True, exist_ok=True) + payload = json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8") + temporary = path.with_name(f".{path.name}.tmp") + try: + with temporary.open("wb") as handle: + handle.write(payload) + handle.flush() + os.fsync(handle.fileno()) + os.replace(temporary, path) + finally: + try: + temporary.unlink() + except FileNotFoundError: + pass + return str(path) + + +def _result( + *, + context_id: str, + packet_id: str, + profile: str, + status: str, + decoder: SSEDecoder, + event_count: int, + output_bytes: int, + output_digest: Any, + response_id: str | None, + last_event_id: str | None, + reason_code: str | None = None, + error: str | None = None, + usage: dict[str, int] | None = None, + finish_reason: str | None = None, + checkpoint_path: Path | None = None, +) -> dict[str, Any]: + reusable = status == "completed" + result: dict[str, Any] = { + "schema": "model-stream-result.v1", + "context_id": context_id, + "packet_id": packet_id, + "status": status, + "reusable": reusable, + "event_count": event_count, + "bytes_received": decoder.bytes_received, + "output_bytes": output_bytes, + "output_sha256": output_digest.hexdigest(), + "response_id": response_id, + "last_event_id": last_event_id, + "reason_code": reason_code, + "error": error, + "finish_reason": finish_reason, + "retry": None if reusable else _retry(profile, reason_code or status), + } + if usage is not None: + result["usage"] = usage + checkpoint = { + "schema": "model-stream-checkpoint.v1", + "context_id": context_id, + "packet_id": packet_id, + "status": status, + "reusable": reusable, + "reason_code": reason_code, + "event_count": event_count, + "bytes_received": decoder.bytes_received, + "output_bytes": output_bytes, + "output_sha256": output_digest.hexdigest(), + "response_id": response_id, + "last_event_id": last_event_id, + "finish_reason": finish_reason, + "retry": result["retry"], + } + if usage is not None: + checkpoint["usage"] = usage + result["checkpoint_path"] = _checkpoint(checkpoint_path, checkpoint) + return result + + +def consume_sse( + chunks: Iterable[bytes], + *, + context_id: str, + packet_id: str, + profile: str = "feature", + max_output_tokens: int = 1024, + max_output_bytes: int = DEFAULT_MAX_RESPONSE_BYTES, + checkpoint_path: Path | None = None, + max_event_bytes: int = DEFAULT_MAX_EVENT_BYTES, + max_response_bytes: int = DEFAULT_MAX_RESPONSE_BYTES, +) -> dict[str, Any]: + """Consume a stream and return a terminal, checkpointed result. + + Any disconnect, malformed frame, provider failure, context overflow, or + output overrun is non-reusable. The returned retry plan explicitly asks + the caller to rebuild a smaller packet; no partial output is included. + """ + + decoder = SSEDecoder( + max_event_bytes=max_event_bytes, + max_response_bytes=max_response_bytes, + ) + if max_output_tokens < 0 or max_output_bytes <= 0: + raise ValueError("output limits must be non-negative/positive") + event_count = 0 + output_bytes = 0 + output_digest = hashlib.sha256() + response_id: str | None = None + last_event_id: str | None = None + terminal: dict[str, Any] | None = None + + def handle(event: SSEEvent) -> dict[str, Any] | None: + nonlocal event_count, output_bytes, response_id, last_event_id + event_count += 1 + last_event_id = event.event_id or last_event_id + payload = _json_event(event) + kind = _event_type(event, payload) + response = _nested_response(payload) + if response.get("id") is not None: + response_id = str(response["id"]) + delta = payload.get("delta") + if isinstance(delta, str): + encoded = delta.encode("utf-8") + output_bytes += len(encoded) + output_digest.update(encoded) + if output_bytes > max_output_bytes: + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status="output_budget_exceeded", decoder=decoder, + event_count=event_count, output_bytes=output_bytes, + output_digest=output_digest, response_id=response_id, + last_event_id=last_event_id, reason_code="output_overrun", + checkpoint_path=checkpoint_path, + ) + if kind in {"response.failed", "error"}: + code, message = _error_info(payload) + status = "context_budget_exceeded" if _context_error(code, message) else "provider_failed" + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status=status, decoder=decoder, event_count=event_count, + output_bytes=output_bytes, output_digest=output_digest, + response_id=response_id, last_event_id=last_event_id, + reason_code=code, error=message, checkpoint_path=checkpoint_path, + ) + if kind in {"response.completed", "response.incomplete"}: + try: + validated = validate_provider_response( + payload, max_output_tokens=max_output_tokens + ) + except ModelBudgetError as exc: + message = str(exc) + overrun = "exceeded output token budget" in message + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status="output_budget_exceeded" if overrun else "protocol_error", + decoder=decoder, + event_count=event_count, output_bytes=output_bytes, + output_digest=output_digest, response_id=response_id, + last_event_id=last_event_id, + reason_code="output_overrun" if overrun else "invalid_usage", + error=message, checkpoint_path=checkpoint_path, + ) + status = "truncated" if bool(validated.get("truncated")) else "completed" + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status=status, decoder=decoder, event_count=event_count, + output_bytes=output_bytes, output_digest=output_digest, + response_id=response_id, last_event_id=last_event_id, + reason_code="length" if status == "truncated" else None, + usage={key: int(validated[key]) for key in ("input_tokens", "output_tokens", "total_tokens")}, + finish_reason=validated.get("finish_reason"), + checkpoint_path=checkpoint_path, + ) + return None + + try: + for chunk in chunks: + for event in decoder.feed(chunk): + terminal = handle(event) + if terminal is not None: + return terminal + for event in decoder.finish(): + terminal = handle(event) + if terminal is not None: + return terminal + except (ConnectionError, TimeoutError, OSError) as exc: + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status="interrupted", decoder=decoder, event_count=event_count, + output_bytes=output_bytes, output_digest=output_digest, + response_id=response_id, last_event_id=last_event_id, + reason_code="stream_disconnected", error=type(exc).__name__, + checkpoint_path=checkpoint_path, + ) + except StreamProtocolError as exc: + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status="protocol_error", decoder=decoder, event_count=event_count, + output_bytes=output_bytes, output_digest=output_digest, + response_id=response_id, last_event_id=last_event_id, + reason_code="stream_decode_error", error=str(exc), + checkpoint_path=checkpoint_path, + ) + except Exception as exc: + # SDKs use different exception classes for a body that ends before + # ``response.completed``. Treat all ordinary iterator exceptions as + # a disconnect, but keep only the class name in the checkpoint. + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status="interrupted", decoder=decoder, event_count=event_count, + output_bytes=output_bytes, output_digest=output_digest, + response_id=response_id, last_event_id=last_event_id, + reason_code="stream_disconnected", error=type(exc).__name__, + checkpoint_path=checkpoint_path, + ) + + return _result( + context_id=context_id, packet_id=packet_id, profile=profile, + status="interrupted", decoder=decoder, event_count=event_count, + output_bytes=output_bytes, output_digest=output_digest, + response_id=response_id, last_event_id=last_event_id, + reason_code="stream_ended_without_completion", + checkpoint_path=checkpoint_path, + ) + + +__all__ = ["SSEDecoder", "SSEEvent", "StreamProtocolError", "consume_sse"] diff --git a/scripts/test_context_packet.py b/scripts/test_context_packet.py index d85a4fd..e4a37a2 100644 --- a/scripts/test_context_packet.py +++ b/scripts/test_context_packet.py @@ -6,6 +6,7 @@ from pathlib import Path from tempfile import TemporaryDirectory from context_packet import PacketError, generate_packet +from validate_model_budget import validate_request class ContextPacketTests(unittest.TestCase): @@ -115,6 +116,67 @@ class ContextPacketTests(unittest.TestCase): self.assertEqual([item["path"] for item in packet["evidence"]["selected"]], ["required.log", "a.log"]) self.assertEqual(packet["evidence"]["excluded"][0]["reason_code"], "E3") + def test_token_budget_is_enforced_during_generation(self): + packet = generate_packet( + self.base([{"path": "large.log", "size": 1800, "priority": 1}]), + context_id="c1", + packet_id="p1", + profile="doc", + total_bytes=8192, + evidence_bytes=2048, + ) + self.assertEqual(packet["evidence"]["selected"], []) + self.assertEqual(packet["evidence"]["excluded"][0]["reason_code"], "E6") + + def test_required_item_fails_on_token_budget(self): + with self.assertRaisesRegex(PacketError, r"required evidence cannot fit \(E6\)"): + generate_packet( + self.base([{"path": "required.log", "size": 1800, "required": True}]), + context_id="c1", + packet_id="p1", + profile="doc", + total_bytes=8192, + evidence_bytes=2048, + ) + + def test_overrides_cannot_expand_profile(self): + with self.assertRaisesRegex(PacketError, "bytes budget override exceeds profile"): + generate_packet( + self.base([]), + context_id="c1", + packet_id="p1", + profile="doc", + total_bytes=8193, + ) + + def test_token_limit_override_can_only_shrink_profile(self): + packet = generate_packet( + self.base([]), + context_id="c1", + packet_id="p1", + profile="feature", + token_limit=512, + ) + self.assertEqual(packet["budget"]["token_limit"], 512) + with self.assertRaisesRegex(PacketError, "tokens budget override exceeds profile"): + generate_packet( + self.base([]), + context_id="c1", + packet_id="p1", + profile="feature", + token_limit=4097, + ) + + def test_generated_packet_passes_model_preflight(self): + packet = generate_packet( + self.base([]), + context_id="c1", + packet_id="p1", + profile="feature", + ) + result = validate_request(packet, context_window=16384, overhead_tokens=256) + self.assertLessEqual(result["reserved_total_tokens"], 16384) + def test_cli_does_not_replace_existing_output_on_generation_failure(self): with TemporaryDirectory() as directory: root = Path(directory) diff --git a/scripts/test_corexy_hal_report.py b/scripts/test_corexy_hal_report.py new file mode 100644 index 0000000..93e77f7 --- /dev/null +++ b/scripts/test_corexy_hal_report.py @@ -0,0 +1,36 @@ +import json +import unittest +from pathlib import Path + +import generate_corexy_hal_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class CorexyHalReportTests(unittest.TestCase): + def test_report_contract(self): + report = json.loads((ROOT / "coverage/corexy-hal.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "corexy-hal-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["native_wasm"]["status"], "passed") + self.assertTrue(report["native_wasm"]["byte_identical_json"]) + self.assertEqual(report["home_semantics"]["status"], "verified") + self.assertEqual(report["oracle"]["status"], "blocked") + self.assertTrue(all(report["config_scan"].values())) + + def test_report_is_deterministic(self): + first = ROOT / "coverage/.corexy-hal-one.json" + second = ROOT / "coverage/.corexy-hal-two.json" + try: + self.assertEqual( + generate_corexy_hal_report.generate(ROOT, first), + generate_corexy_hal_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_coupled_kinematics_report.py b/scripts/test_coupled_kinematics_report.py new file mode 100644 index 0000000..967b408 --- /dev/null +++ b/scripts/test_coupled_kinematics_report.py @@ -0,0 +1,38 @@ +import json +import unittest +from pathlib import Path + +import generate_coupled_kinematics_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class CoupledKinematicsReportTests(unittest.TestCase): + def test_report_contract(self): + report = json.loads((ROOT / "coverage/coupled-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "coupled-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["native_wasm"]["status"], "passed") + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["corexy_entry_distinction"]["distinct"]) + self.assertEqual(report["closure"]["official_oracle"], "blocked") + self.assertEqual(set(report["families"]), {"corexy", "rose", "maxkins", "rotatekins"}) + self.assertIn("rotatekins", report["configuration_candidates"]) + self.assertIn("workspace_derived_fixture", report["configuration_candidate_origin"]["rotatekins"]) + + def test_report_is_deterministic(self): + first = ROOT / "coverage/.coupled-one.json" + second = ROOT / "coverage/.coupled-two.json" + try: + self.assertEqual( + generate_coupled_kinematics_report.generate(ROOT, first), + generate_coupled_kinematics_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_delta_kinematics_report.py b/scripts/test_delta_kinematics_report.py new file mode 100644 index 0000000..50fa925 --- /dev/null +++ b/scripts/test_delta_kinematics_report.py @@ -0,0 +1,38 @@ +import json +import unittest +from pathlib import Path + +import generate_delta_kinematics_report + +ROOT = Path(__file__).resolve().parents[1] + + +class DeltaKinematicsReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/delta-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "delta-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertEqual(report["native_wasm"]["status"], "passed") + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + self.assertEqual(report["configuration_candidate_count"], 4) + self.assertIn("linear_cc", report["source_records"]) + self.assertIn("rotary_cc", report["source_records"]) + self.assertLess(report["workspace_and_boundaries"]["linear"]["no_solution_error"], 0) + self.assertLess(report["workspace_and_boundaries"]["rotary"]["singular_error"], 0) + self.assertEqual(report["workspace_and_boundaries"]["linear"]["geometry_error"], -703) + self.assertEqual(report["workspace_and_boundaries"]["rotary"]["geometry_error"], -703) + + def test_deterministic(self): + first = ROOT / "coverage/.delta-one.json" + second = ROOT / "coverage/.delta-two.json" + try: + self.assertEqual(generate_delta_kinematics_report.generate(ROOT, first), generate_delta_kinematics_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_fiveaxis_report.py b/scripts/test_fiveaxis_report.py new file mode 100644 index 0000000..ab54384 --- /dev/null +++ b/scripts/test_fiveaxis_report.py @@ -0,0 +1,32 @@ +import json +import unittest +from pathlib import Path + +import generate_fiveaxis_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class FiveaxisReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/fiveaxis-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "fiveaxis-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertTrue(report["configuration"]["scan"]["kins_entry"]) + self.assertTrue(report["configuration"]["scan"]["joint_count"]) + self.assertTrue(report["sample"]["byte_identical_json"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first = ROOT / "coverage/.fiveaxis-one.json" + second = ROOT / "coverage/.fiveaxis-two.json" + try: + self.assertEqual(generate_fiveaxis_report.generate(ROOT, first), generate_fiveaxis_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_generate_posemath_report.py b/scripts/test_generate_posemath_report.py new file mode 100644 index 0000000..d464d1b --- /dev/null +++ b/scripts/test_generate_posemath_report.py @@ -0,0 +1,29 @@ +import hashlib +import json +import tempfile +import unittest +from pathlib import Path + +try: + import generate_posemath_report +except ModuleNotFoundError: # Supports both discovery and direct module execution. + from scripts import generate_posemath_report + + +class PosemathReportTests(unittest.TestCase): + def test_report_is_deterministic(self): + root = Path(__file__).resolve().parents[1] + with tempfile.TemporaryDirectory() as directory: + report_path = Path(directory) / "report.json" + first = generate_posemath_report.generate(root, report_path) + first_bytes = report_path.read_bytes() + second = generate_posemath_report.generate(root, report_path) + self.assertEqual(first, second) + self.assertEqual(first_bytes, report_path.read_bytes()) + self.assertEqual(hashlib.sha256(first_bytes).hexdigest(), hashlib.sha256(report_path.read_bytes()).hexdigest()) + self.assertGreater(first["inputs"]["file_count"], 0) + self.assertEqual(first["outputs"]["file_count"], len(generate_posemath_report.OUTPUTS)) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_genhex_kinematics_report.py b/scripts/test_genhex_kinematics_report.py new file mode 100644 index 0000000..3357984 --- /dev/null +++ b/scripts/test_genhex_kinematics_report.py @@ -0,0 +1,32 @@ +import json +import unittest +from pathlib import Path + +import generate_genhex_kinematics_report + +ROOT = Path(__file__).resolve().parents[1] + + +class GenhexKinematicsReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/genhex-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "genhex-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertTrue(report["configuration_candidate"]["scan"]) + self.assertEqual(report["geometry"]["struts"], 6) + 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 = ROOT / "coverage/.genhex-one.json" + second = ROOT / "coverage/.genhex-two.json" + try: + self.assertEqual(generate_genhex_kinematics_report.generate(ROOT, first), generate_genhex_kinematics_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_genser_report.py b/scripts/test_genser_report.py new file mode 100644 index 0000000..74153a5 --- /dev/null +++ b/scripts/test_genser_report.py @@ -0,0 +1,28 @@ +import json +import unittest +from pathlib import Path + +import generate_genser_report + +ROOT = Path(__file__).resolve().parents[1] + +class GenserReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/genser-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "genser-kinematics-report.v1") + self.assertTrue(all(row["scan"] for row in report["configuration_candidates"].values())) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertGreaterEqual(report["solver"]["iterations"], 0) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first = ROOT / "coverage/.genser-one.json" + second = ROOT / "coverage/.genser-two.json" + try: + self.assertEqual(generate_genser_report.generate(ROOT, first), generate_genser_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_hal_runtime.py b/scripts/test_hal_runtime.py index e1759a4..e09d6b6 100644 --- a/scripts/test_hal_runtime.py +++ b/scripts/test_hal_runtime.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import json +import json import subprocess import unittest from pathlib import Path @@ -17,7 +18,7 @@ class HalRuntimeTests(unittest.TestCase): def test_header_declares_error_boundary(self): header = (ROOT / "wasm-core/include/sim_hal.h").read_text(encoding="utf-8") - for token in ("SIM_HAL_ERR_TYPE", "SIM_HAL_ERR_FUNCTION", "SIM_HAL_ERR_REAL_EXCLUDED", "sim_hal_step"): + for token in ("SIM_HAL_ERR_TYPE", "SIM_HAL_ERR_FUNCTION", "SIM_HAL_ERR_REAL_EXCLUDED", "sim_hal_step", "sim_hal_register_corexy_by_hal", "sim_hal_corexy_transform"): self.assertIn(token, header) def test_wasm_exports_hal_api(self): @@ -28,6 +29,11 @@ class HalRuntimeTests(unittest.TestCase): for symbol in ("sim_hal_register_pin", "sim_hal_register_thread", "sim_hal_step"): self.assertIn(symbol, text) + def test_corexy_hal_report(self): + report = json.loads((ROOT / "coverage/corexy-hal.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "corexy-hal-report.v1") + self.assertTrue(report["native_wasm"]["byte_identical_json"]) + if __name__ == "__main__": unittest.main() diff --git a/scripts/test_interpreter_runtime.py b/scripts/test_interpreter_runtime.py new file mode 100644 index 0000000..ed1bb6d --- /dev/null +++ b/scripts/test_interpreter_runtime.py @@ -0,0 +1,37 @@ +import unittest +from pathlib import Path + +import generate_interpreter_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class InterpreterRuntimeTests(unittest.TestCase): + def test_native_interpreter_binary(self): + binary = ROOT / "build-native/sim_interpreter_test" + if not binary.is_file(): + self.skipTest("native build has not been generated") + import subprocess + result = subprocess.run([str(binary)], cwd=ROOT, check=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE) + self.assertEqual(result.returncode, 0, result.stderr.decode(errors="replace")) + + def test_wasm_exports_interpreter_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_interpreter_init", "sim_interpreter_execute", "sim_interpreter_canonical", "sim_interpreter_state_hash"): + self.assertIn(symbol, text) + + def test_report_is_deterministic_and_complete(self): + report = __import__("json").loads((ROOT / "coverage/interpreter-runtime.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "interpreter-runtime-report.v1") + self.assertGreater(report["inputs"]["file_count"], 0) + self.assertEqual(report["outputs"]["file_count"], len(generate_interpreter_report.OUTPUTS)) + self.assertTrue(report["canonical"]["byte_identical"]) + self.assertTrue(report["canonical"]["state_hash_identical"]) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_abi_contract.py b/scripts/test_kinematics_abi_contract.py new file mode 100644 index 0000000..513bf15 --- /dev/null +++ b/scripts/test_kinematics_abi_contract.py @@ -0,0 +1,40 @@ +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_kinematics_abi_contract import generate + + +class KinematicsAbiContractTests(unittest.TestCase): + def test_repository_contract_is_verified(self): + root = Path(__file__).resolve().parents[1] + report = json.loads((root / "coverage/kinematics-abi-contract.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-abi-contract.v1") + self.assertEqual(report["status"], "verified") + self.assertEqual(report["missing_required_exports"], []) + self.assertEqual(report["errors"]["SIM_KIN_ERR_NONFINITE"], -701) + + def test_missing_export_blocks_contract(self): + directory = TemporaryDirectory() + self.addCleanup(directory.cleanup) + root = Path(directory.name) + (root / "wasm-core/include").mkdir(parents=True) + (root / "wasm-core/include/sim_kinematics.h").write_text( + "enum sim_kinematics_result { SIM_KIN_OK = 0 };\n" + "typedef struct sim_kinematics_config { int type; } sim_kinematics_config;\n" + "int sim_kinematics_init(void);\nint sim_kinematics_forward(void);\n", + encoding="utf-8", + ) + (root / "wasm-core/CMakeLists.txt").write_text("EXPORTED_FUNCTIONS=['_sim_kinematics_init']\n", encoding="utf-8") + (root / "context-lock.json").write_text('{"context_id":"test"}\n', encoding="utf-8") + report = generate(root, root / "report.json") + self.assertEqual(report["status"], "blocked") + self.assertIn("sim_kinematics_state_hash", report["missing_required_exports"]) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_closure_report.py b/scripts/test_kinematics_closure_report.py new file mode 100644 index 0000000..98122f8 --- /dev/null +++ b/scripts/test_kinematics_closure_report.py @@ -0,0 +1,60 @@ +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_kinematics_closure_report import generate + + +class KinematicsClosureReportTests(unittest.TestCase): + def make_tree(self): + directory = TemporaryDirectory() + root = Path(directory.name) + (root / "context-lock.json").write_text('{"context_id":"test-context"}\n', encoding="utf-8") + source = root / "linuxcnc/src/emc/kinematics" + source.mkdir(parents=True) + (source / "trivkins.c").write_text("int kinematicsForward(void) { return 0; }\n", encoding="utf-8") + (source / "kinematics.h").write_text("typedef int KINEMATICS_TYPE;\n", encoding="utf-8") + config = root / "linuxcnc/configs/sim/demo" + config.mkdir(parents=True) + (config / "demo.ini").write_text("[KINS]\nKINEMATICS = trivkins coordinates=XYZ\n", encoding="utf-8") + (config / "demo.hal").write_text("loadrt trivkins\n", encoding="utf-8") + (root / "linuxcnc/tests/matrixkins").mkdir(parents=True) + (root / "linuxcnc/tests/matrixkins/test.ini").write_text("[KINS]\nKINEMATICS = matrixkins\n", encoding="utf-8") + return directory, root + + def test_report_is_deterministic_and_retains_missing_required_root(self): + directory, root = self.make_tree() + self.addCleanup(directory.cleanup) + first = root / "one.json" + second = root / "two.json" + report_one = generate(root, first) + report_two = generate(root, second) + self.assertEqual(report_one["status"], "blocked") + self.assertIn("linuxcnc/unit_tests/kinematics", report_one["missing_required_test_roots"]) + self.assertEqual(first.read_bytes(), second.read_bytes()) + self.assertEqual(report_one["source"]["file_count"], 2) + self.assertEqual(report_one["configuration"]["entry_count"], 2) + self.assertEqual(report_one["hal"]["entry_count"], 1) + self.assertTrue(report_one["configuration"]["entries"][0]["config_id"].startswith("config:")) + self.assertEqual(report_one["source"]["files"][0]["source_id"], "source:linuxcnc/src/emc/kinematics/kinematics.h") + self.assertTrue(all(row["oracle"]["status"] == "blocked" for row in report_one["families"])) + self.assertEqual(json.loads(first.read_text(encoding="utf-8")), report_two) + + def test_hal_transform_and_switchkins_entries_are_registered(self): + directory, root = self.make_tree() + self.addCleanup(directory.cleanup) + hal = root / "linuxcnc/configs/sim/demo/demo.hal" + hal.write_text("loadrt corexy_by_hal names=corexy\nnet select => motion.switchkins-type\n", encoding="utf-8") + report = generate(root, root / "report.json") + kinds = {row["kind"] for row in report["hal"]["entries"]} + self.assertIn("loadrt", kinds) + self.assertIn("hal_transform", kinds) + self.assertIn("switchkins", kinds) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_config_graph.py b/scripts/test_kinematics_config_graph.py new file mode 100644 index 0000000..9877e57 --- /dev/null +++ b/scripts/test_kinematics_config_graph.py @@ -0,0 +1,80 @@ +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_kinematics_config_graph import generate + + +class KinematicsConfigGraphTests(unittest.TestCase): + def make_tree(self): + directory = TemporaryDirectory() + root = Path(directory.name) + coverage = root / "coverage" + coverage.mkdir() + config = root / "linuxcnc/configs/sim/demo" + config.mkdir(parents=True) + (config / "demo.ini").write_text( + "[KINS]\nKINEMATICS = trivkins\n[HAL]\nHALFILE = demo.hal\n", + encoding="utf-8", + ) + (config / "demo.hal").write_text( + "loadrt [KINS]KINEMATICS\nnet select => motion.switchkins-type\n", + encoding="utf-8", + ) + matrix = root / "linuxcnc/tests/matrixkins" + matrix.mkdir(parents=True) + (matrix / "test.ini").write_text("[KINS]\nKINEMATICS = matrixkins\n", encoding="utf-8") + config_id = "config:linuxcnc/configs/sim/demo/demo.ini:2:kinematics:trivkins" + matrix_id = "config:linuxcnc/tests/matrixkins/test.ini:2:kinematics:matrixkins" + template_id = "config:linuxcnc/configs/sim/demo/demo.hal:1:loadrt:_KINS_KINEMATICS" + switch_id = "config:linuxcnc/configs/sim/demo/demo.hal:2:switchkins:motion.switchkins-type" + closure = { + "context_id": "test-context", + "configuration": {"entry_count": 2, "entries": [ + {"config_id": config_id, "kind": "kinematics", "path": "linuxcnc/configs/sim/demo/demo.ini", "line": 2, "module": "trivkins", "family": "cartesian"}, + {"config_id": matrix_id, "kind": "kinematics", "path": "linuxcnc/tests/matrixkins/test.ini", "line": 2, "module": "matrixkins", "family": "coupled_linear"}, + ]}, + "hal": {"entry_count": 2, "entries": [ + {"config_id": template_id, "kind": "loadrt", "path": "linuxcnc/configs/sim/demo/demo.hal", "line": 1, "module": "[KINS]KINEMATICS", "family": "template_entry"}, + {"config_id": switch_id, "kind": "switchkins", "path": "linuxcnc/configs/sim/demo/demo.hal", "line": 2, "module": "motion.switchkins-type", "family": "switch_control"}, + ]}, + "families": [ + {"family": "cartesian", "configuration_ids": [config_id], "source_ids": ["source:trivkins"]}, + {"family": "switchable", "configuration_ids": [switch_id], "source_ids": ["source:switchkins"]}, + {"family": "user_static", "configuration_ids": [], "source_ids": ["source:userkins"]}, + ], + } + (coverage / "kinematics-source-closure.report.json").write_text(json.dumps(closure), encoding="utf-8") + resource = { + "resource_source_id": "resource:demo:hal", "entrypoint": "linuxcnc/configs/sim/demo/demo.ini", + "path": "linuxcnc/configs/sim/demo/demo.hal", "resource_kind": "hal", + "edge_kind": "ini:HAL:HALFILE", "parse_status": "resolved_file", + } + (coverage / "config-resources.jsonl").write_text(json.dumps(resource) + "\n", encoding="utf-8") + (coverage / "source-index.jsonl").write_text("", encoding="utf-8") + return directory, root, template_id, matrix_id + + def test_generation_is_deterministic_and_has_no_orphans(self): + directory, root, template_id, matrix_id = self.make_tree() + self.addCleanup(directory.cleanup) + output, samples_output = root / "report.json", root / "samples.jsonl" + report_one = generate(root, output, samples_output) + first_report, first_samples = output.read_bytes(), samples_output.read_bytes() + report_two = generate(root, output, samples_output) + self.assertEqual(first_report, output.read_bytes()) + self.assertEqual(first_samples, samples_output.read_bytes()) + self.assertEqual(report_one["closure"]["orphan_entry_ids"], []) + self.assertEqual(report_one["closure"]["unowned_template_ids"], []) + self.assertTrue(any(edge["from"] == template_id and edge["kind"] == "template_resolves_to" for edge in report_one["edges"])) + samples = [json.loads(line) for line in samples_output.read_text(encoding="utf-8").splitlines()] + user_sample = next(row for row in samples if row["family"] == "user_static") + self.assertEqual(user_sample["configuration_id"], matrix_id) + self.assertEqual(report_one, report_two) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_mapping_contract.py b/scripts/test_kinematics_mapping_contract.py new file mode 100644 index 0000000..fe55009 --- /dev/null +++ b/scripts/test_kinematics_mapping_contract.py @@ -0,0 +1,19 @@ +import json +import unittest +from pathlib import Path + + +class KinematicsMappingContractTests(unittest.TestCase): + def test_contract_records_duplicate_and_home_semantics(self): + root = Path(__file__).resolve().parents[1] + report = json.loads((root / "coverage/kinematics-mapping-contract.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-mapping-contract.v1") + self.assertEqual(report["status"], "verified") + duplicate = next(row for row in report["sample_mappings"] if row["coordinates"] == "XYYZ") + self.assertEqual(duplicate["duplicate"]["owner"], 1) + self.assertIn("home", report["semantics"]) + self.assertIn("enabled_limit_violation", report["error_cases"]) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_numeric_policy.py b/scripts/test_kinematics_numeric_policy.py new file mode 100644 index 0000000..2569f5d --- /dev/null +++ b/scripts/test_kinematics_numeric_policy.py @@ -0,0 +1,18 @@ +import json +import unittest +from pathlib import Path + + +class KinematicsNumericPolicyTests(unittest.TestCase): + def test_policy_is_verified_and_exact_fields_are_declared(self): + root = Path(__file__).resolve().parents[1] + report = json.loads((root / "coverage/kinematics-numeric-policy.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-numeric-policy.v1") + self.assertEqual(report["status"], "verified") + self.assertFalse(report["compiler"]["fast_math"]) + self.assertIn("SIM_KIN_ERR_SINGULAR", {row["expected"] for row in report["boundary_matrix"]}) + self.assertIn("branch_id", report["exact_fields"]) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_oracle_report.py b/scripts/test_kinematics_oracle_report.py new file mode 100644 index 0000000..ef330bb --- /dev/null +++ b/scripts/test_kinematics_oracle_report.py @@ -0,0 +1,44 @@ +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_kinematics_oracle_report import generate + + +class KinematicsOracleReportTests(unittest.TestCase): + def make_tree(self): + directory = TemporaryDirectory() + root = Path(directory.name) + coverage = root / "coverage" + coverage.mkdir() + closure = { + "context_id": "test-context", "missing_required_test_roots": ["linuxcnc/unit_tests/kinematics"], + } + (coverage / "kinematics-source-closure.report.json").write_text(json.dumps(closure), encoding="utf-8") + sample = { + "sample_id": "kinematics-sample:cartesian:nominal-roundtrip", "family": "cartesian", + "configuration_id": "config:demo", "operation": "fk_ik_fk_roundtrip", "input": {"joint": [1.0]}, + "expected": {"invariant": "pose_roundtrip", "absolute_tolerance": 1e-9}, + "execution": {"status": "blocked", "reason": "missing official oracle"}, + } + (coverage / "kinematics-oracle-samples.jsonl").write_text(json.dumps(sample) + "\n", encoding="utf-8") + return directory, root + + def test_missing_official_root_blocks_without_fake_golden(self): + directory, root = self.make_tree() + self.addCleanup(directory.cleanup) + report = generate(root, root / "report.json", root / "schema.json") + self.assertEqual(report["status"], "blocked") + self.assertEqual(report["sample_count"], 1) + self.assertEqual(report["ready_count"], 0) + self.assertEqual(report["records"][0]["result"]["error_code"], "MISSING_OFFICIAL_ORACLE") + self.assertEqual(report["records"][0]["execution"]["status"], "blocked") + self.assertEqual(json.loads((root / "schema.json").read_text(encoding="utf-8"))["$id"], "linuxcnc-web-wasm/kinematics-golden.v1") + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_kinematics_runtime.py b/scripts/test_kinematics_runtime.py new file mode 100644 index 0000000..91a6855 --- /dev/null +++ b/scripts/test_kinematics_runtime.py @@ -0,0 +1,51 @@ +import json +import subprocess +import unittest +from pathlib import Path + +import generate_kinematics_runtime_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class KinematicsRuntimeTests(unittest.TestCase): + def test_native_kinematics_binary(self): + binary = ROOT / "build-native/sim_kinematics_test" + if not binary.is_file(): + self.skipTest("native build has not been generated") + result = subprocess.run([str(binary)], cwd=ROOT, check=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE) + self.assertEqual(result.returncode, 0, result.stderr.decode(errors="replace")) + + def test_wasm_exports_kinematics_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_kinematics_init", "sim_kinematics_forward_ex", "sim_kinematics_inverse_ex", "sim_kinematics_state_hash"): + self.assertIn(symbol, text) + + def test_report_contract(self): + report = json.loads((ROOT / "coverage/kinematics-runtime.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "kinematics-runtime-report.v1") + self.assertEqual(report["status"], "partial") + self.assertTrue(report["registered_build_targets"]["native_ctest"]) + self.assertFalse(report["closure"]["full_linuxcnc_kinematics"]) + self.assertIn("linear-delta", report["supported_types"]) + self.assertIn("rotary-delta", report["supported_types"]) + self.assertIn("tripod", report["supported_types"]) + + def test_report_is_deterministic(self): + first = ROOT / "coverage/.kinematics-runtime-one.json" + second = ROOT / "coverage/.kinematics-runtime-two.json" + try: + report_one = generate_kinematics_runtime_report.generate(ROOT, first) + report_two = generate_kinematics_runtime_report.generate(ROOT, second) + self.assertEqual(report_one, report_two) + finally: + first.unlink(missing_ok=True) + second.unlink(missing_ok=True) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_model_stream.py b/scripts/test_model_stream.py new file mode 100644 index 0000000..41beea9 --- /dev/null +++ b/scripts/test_model_stream.py @@ -0,0 +1,154 @@ +#!/usr/bin/env python3 +import json +import unittest +from pathlib import Path +from tempfile import TemporaryDirectory + +from model_stream import SSEDecoder, StreamProtocolError, consume_sse + + +def event(kind, payload): + return f"event: {kind}\ndata: {json.dumps(payload, separators=(',', ':'))}\n\n".encode() + + +def completed(*, output_tokens=2, status="completed", incomplete_reason=None): + response = { + "id": "resp-1", + "status": status, + "usage": { + "input_tokens": 20, + "output_tokens": output_tokens, + "total_tokens": 20 + output_tokens, + }, + } + if incomplete_reason is not None: + response["incomplete_details"] = {"reason": incomplete_reason} + kind = "response.incomplete" if status == "incomplete" else "response.completed" + return event(kind, {"type": kind, "response": response}) + + +class ModelStreamTests(unittest.TestCase): + def test_decoder_preserves_utf8_across_chunks(self): + payload = event("response.output_text.delta", { + "type": "response.output_text.delta", + "delta": "text", + }) + decoder = SSEDecoder() + split = payload.index(b"text") + 2 + self.assertEqual(decoder.feed(payload[:split]), []) + parsed = decoder.feed(payload[split:]) + self.assertEqual(len(parsed), 1) + self.assertIn("text", parsed[0].data) + + def test_completed_stream_uses_provider_usage(self): + delta = event("response.output_text.delta", { + "type": "response.output_text.delta", + "delta": "hello", + }) + result = consume_sse( + [delta[:7], delta[7:], completed(output_tokens=2)], + context_id="c1", + packet_id="p1", + max_output_tokens=8, + ) + self.assertEqual(result["status"], "completed") + self.assertTrue(result["reusable"]) + self.assertEqual(result["usage"]["output_tokens"], 2) + + def test_disconnect_writes_metadata_only_checkpoint(self): + def disconnected(): + yield event("response.output_text.delta", { + "type": "response.output_text.delta", + "delta": "secret-partial-text", + }) + raise ConnectionError("body ended early") + + with TemporaryDirectory() as directory: + path = Path(directory) / "checkpoint.json" + result = consume_sse( + disconnected(), + context_id="c1", + packet_id="p1", + checkpoint_path=path, + max_output_tokens=64, + ) + checkpoint_text = path.read_text(encoding="utf-8") + self.assertEqual(result["status"], "interrupted") + self.assertFalse(result["reusable"]) + self.assertEqual(result["reason_code"], "stream_disconnected") + self.assertNotIn("secret-partial-text", checkpoint_text) + self.assertFalse(json.loads(checkpoint_text)["reusable"]) + + def test_stream_ending_without_terminal_event_is_not_reusable(self): + result = consume_sse( + [event("response.created", {"type": "response.created"})], + context_id="c1", + packet_id="p1", + ) + self.assertEqual(result["reason_code"], "stream_ended_without_completion") + self.assertFalse(result["reusable"]) + + def test_incomplete_utf8_is_a_protocol_error(self): + result = consume_sse( + [b"data: {\"delta\":\"\xe4\xb8"], + context_id="c1", + packet_id="p1", + ) + self.assertEqual(result["status"], "protocol_error") + self.assertEqual(result["reason_code"], "stream_decode_error") + + def test_context_failure_requires_smaller_fresh_packet(self): + failed = event("response.failed", { + "type": "response.failed", + "response": { + "id": "resp-2", + "status": "failed", + "error": { + "code": "context_length_exceeded", + "message": "context window exceeded", + }, + }, + }) + result = consume_sse( + [failed], + context_id="c1", + packet_id="p1", + profile="feature", + ) + self.assertEqual(result["status"], "context_budget_exceeded") + self.assertEqual(result["retry"]["profile"], "doc") + self.assertFalse(result["retry"]["reuse_packet"]) + + def test_provider_output_overrun_is_rejected(self): + result = consume_sse( + [completed(output_tokens=9)], + context_id="c1", + packet_id="p1", + max_output_tokens=8, + ) + self.assertEqual(result["status"], "output_budget_exceeded") + self.assertFalse(result["reusable"]) + + def test_incomplete_response_is_checkpointable_not_reusable(self): + result = consume_sse( + [completed( + output_tokens=8, + status="incomplete", + incomplete_reason="max_output_tokens", + )], + context_id="c1", + packet_id="p1", + max_output_tokens=8, + ) + self.assertEqual(result["status"], "truncated") + self.assertFalse(result["reusable"]) + self.assertEqual(result["finish_reason"], "max_output_tokens") + + def test_decoder_enforces_event_budget(self): + decoder = SSEDecoder(max_event_bytes=8, max_response_bytes=32) + with self.assertRaisesRegex(StreamProtocolError, "event exceeds"): + decoder.feed(b"data: 123456789\n\n") + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_motion_runtime.py b/scripts/test_motion_runtime.py new file mode 100644 index 0000000..f1efe7c --- /dev/null +++ b/scripts/test_motion_runtime.py @@ -0,0 +1,37 @@ +import json +import subprocess +import unittest +from pathlib import Path + +import generate_motion_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class MotionRuntimeTests(unittest.TestCase): + def test_native_motion_binary(self): + binary = ROOT / "build-native/sim_motion_queue_test" + if not binary.is_file(): + self.skipTest("native build has not been generated") + result = subprocess.run([str(binary)], cwd=ROOT, check=False, stdout=subprocess.PIPE, stderr=subprocess.PIPE) + self.assertEqual(result.returncode, 0, result.stderr.decode(errors="replace")) + + def test_wasm_exports_motion_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_motion_init", "sim_motion_enqueue", "sim_motion_step", "sim_motion_state_hash", "sim_motion_canonical"): + self.assertIn(symbol, text) + + def test_report_contract(self): + report = json.loads((ROOT / "coverage/motion-runtime.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "motion-runtime-report.v1") + self.assertGreater(report["inputs"]["file_count"], 0) + self.assertEqual(report["outputs"]["file_count"], len(generate_motion_report.OUTPUTS)) + self.assertTrue(report["canonical"]["byte_identical"]) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_pentapod_kinematics_report.py b/scripts/test_pentapod_kinematics_report.py new file mode 100644 index 0000000..adbe073 --- /dev/null +++ b/scripts/test_pentapod_kinematics_report.py @@ -0,0 +1,27 @@ +import json +import unittest +from pathlib import Path +import generate_pentapod_kinematics_report + +ROOT = Path(__file__).resolve().parents[1] + +class PentapodKinematicsReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/pentapod-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "pentapod-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertTrue(report["configuration_candidate"]["scan"]) + self.assertEqual(report["geometry"]["struts"], 5) + 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/.penta-one.json", ROOT / "coverage/.penta-two.json" + try: + self.assertEqual(generate_pentapod_kinematics_report.generate(ROOT, first), generate_pentapod_kinematics_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_posemath_runtime.py b/scripts/test_posemath_runtime.py index c1c768f..3abe19e 100644 --- a/scripts/test_posemath_runtime.py +++ b/scripts/test_posemath_runtime.py @@ -19,9 +19,19 @@ class PosemathRuntimeTests(unittest.TestCase): if not module.is_file(): self.skipTest("WASM build has not been generated") text = module.read_text(encoding="utf-8") - for symbol in ("sim_posemath_normalize", "sim_posemath_dot", "sim_posemath_line_point"): + for symbol in ("sim_posemath_normalize", "sim_posemath_dot", "sim_posemath_line_point", + "sim_posemath_segment_validate", "sim_posemath_segment_point", + "sim_tp_init", "sim_tp_step", "sim_tp_state_hash"): self.assertIn(symbol, text) + def test_report_records_inputs_outputs_and_determinism(self): + report = __import__("json").loads((ROOT / "coverage/posemath-runtime.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "posemath-runtime-report.v2") + self.assertGreater(report["inputs"]["file_count"], 0) + self.assertGreater(report["outputs"]["file_count"], 0) + self.assertTrue(report["determinism"]["byte_identical"]) + self.assertTrue(report["determinism"]["state_hash_identical"]) + def test_posemath_source_is_linked(self): cmake = (ROOT / "wasm-core/CMakeLists.txt").read_text(encoding="utf-8") self.assertIn("posemath.cc", cmake) diff --git a/scripts/test_robot_kinematics_report.py b/scripts/test_robot_kinematics_report.py new file mode 100644 index 0000000..399c71e --- /dev/null +++ b/scripts/test_robot_kinematics_report.py @@ -0,0 +1,31 @@ +import json +import unittest +from pathlib import Path + +import generate_robot_kinematics_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class RobotKinematicsReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/robot-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "robot-kinematics-report.v1") + self.assertTrue(all(row["scan"] for row in report["configuration_candidates"].values())) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertEqual(report["oracle"]["status"], "blocked") + self.assertIn("workspace_derived_fixture", report["configuration_candidates"]["scorbot"]["origin"]) + + def test_deterministic(self): + first = ROOT / "coverage/.robot-one.json" + second = ROOT / "coverage/.robot-two.json" + try: + self.assertEqual(generate_robot_kinematics_report.generate(ROOT, first), generate_robot_kinematics_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_tripod_kinematics_report.py b/scripts/test_tripod_kinematics_report.py new file mode 100644 index 0000000..87f8c04 --- /dev/null +++ b/scripts/test_tripod_kinematics_report.py @@ -0,0 +1,33 @@ +import json +import unittest +from pathlib import Path + +import generate_tripod_kinematics_report + +ROOT = Path(__file__).resolve().parents[1] + + +class TripodKinematicsReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/tripod-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "tripod-kinematics-report.v1") + self.assertEqual(report["implementation_status"], "verified") + self.assertTrue(report["configuration_candidate"]["scan"]) + self.assertEqual(report["geometry"]["hal_parameters"], {"Bx": 10.0, "Cx": 5.0, "Cy": 7.071}) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertTrue(report["samples"]["state_hash_identical"]) + self.assertEqual(report["oracle"]["status"], "blocked") + self.assertEqual(report["workspace_and_boundaries"]["base_plane_singular_error"], -704) + + def test_deterministic(self): + first = ROOT / "coverage/.tripod-one.json" + second = ROOT / "coverage/.tripod-two.json" + try: + self.assertEqual(generate_tripod_kinematics_report.generate(ROOT, first), generate_tripod_kinematics_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_trivkins_integration_report.py b/scripts/test_trivkins_integration_report.py new file mode 100644 index 0000000..b65a7f5 --- /dev/null +++ b/scripts/test_trivkins_integration_report.py @@ -0,0 +1,18 @@ +import json +import unittest +from pathlib import Path + + +class TrivkinsIntegrationReportTests(unittest.TestCase): + def test_report_contract(self): + root = Path(__file__).resolve().parents[1] + report = json.loads((root / "coverage/trivkins-integration.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "trivkins-integration-report.v1") + self.assertEqual(report["status"], "partial") + self.assertEqual(set(report["modes"]), {"identity", "forward_only", "inverse_only", "both"}) + self.assertEqual(report["tests"]["status"], "passed") + self.assertEqual(report["oracle"]["status"], "blocked") + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_trt_report.py b/scripts/test_trt_report.py new file mode 100644 index 0000000..d2b9581 --- /dev/null +++ b/scripts/test_trt_report.py @@ -0,0 +1,31 @@ +import json +import unittest +from pathlib import Path + +import generate_trt_report + + +ROOT = Path(__file__).resolve().parents[1] + + +class TrtReportTests(unittest.TestCase): + def test_contract(self): + report = json.loads((ROOT / "coverage/trt-kinematics.report.json").read_text(encoding="utf-8")) + self.assertEqual(report["schema"], "trt-kinematics-report.v1") + self.assertTrue(report["configuration_candidates"]["xyzac"]["scan"]) + self.assertTrue(report["configuration_candidates"]["xyzbc"]["scan"]) + self.assertTrue(report["samples"]["byte_identical_json"]) + self.assertEqual(report["oracle"]["status"], "blocked") + + def test_deterministic(self): + first = ROOT / "coverage/.trt-one.json" + second = ROOT / "coverage/.trt-two.json" + try: + self.assertEqual(generate_trt_report.generate(ROOT, first), generate_trt_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_validate_model_budget.py b/scripts/test_validate_model_budget.py new file mode 100644 index 0000000..58de583 --- /dev/null +++ b/scripts/test_validate_model_budget.py @@ -0,0 +1,207 @@ +#!/usr/bin/env python3 +import json +import unittest + +from validate_model_budget import ( + ModelBudgetError, + extract_response_usage, + validate_provider_response, + validate_request, + validate_response, +) + + +def packet( + profile="feature", + token_limit=4096, + packet_bytes=1200, + evidence_bytes=300, + byte_limit=16384, + evidence_byte_limit=None, +): + budget = { + "profile": profile, + "token_limit": token_limit, + "byte_limit": byte_limit, + "packet_bytes": packet_bytes, + "selected_evidence_bytes": evidence_bytes, + } + if evidence_byte_limit is not None: + budget["evidence_byte_limit"] = evidence_byte_limit + return { + "budget": budget + } + + +class ModelBudgetTests(unittest.TestCase): + def test_profile_reserves_output_and_safety_margin(self): + result = validate_request(packet()) + self.assertEqual(result["max_output_tokens"], 1024) + self.assertEqual(result["reserved_total_tokens"], 2780) + + def test_non_packet_request_overhead_is_reserved(self): + result = validate_request(packet(), overhead_tokens=700) + self.assertEqual(result["overhead_tokens"], 700) + self.assertEqual(result["reserved_total_tokens"], 3480) + + def test_request_overhead_can_exhaust_context_window(self): + result = validate_request(packet(), context_window=4000, overhead_tokens=700) + self.assertEqual(result["estimated_request_input_tokens"], 2200) + + def test_context_window_overflow_fails_before_request(self): + with self.assertRaisesRegex(ModelBudgetError, "context budget exceeded"): + validate_request(packet(), context_window=1700) + + def test_estimated_input_must_fit_declared_packet_budget(self): + with self.assertRaisesRegex(ModelBudgetError, "input token budget exceeded"): + validate_request(packet(token_limit=400), input_tokens=401) + + def test_byte_upper_bound_prevents_unsafe_heuristic_underestimate(self): + with self.assertRaisesRegex(ModelBudgetError, "input token budget exceeded"): + validate_request(packet(token_limit=1499)) + + def test_exact_tokenizer_count_can_be_supplied(self): + result = validate_request(packet(token_limit=600), input_tokens=500) + self.assertEqual(result["estimated_input_tokens"], 500) + + def test_explicit_output_budget_can_be_smaller(self): + result = validate_request(packet(), context_window=5000, max_output_tokens=256) + self.assertEqual(result["max_output_tokens"], 256) + + def test_output_budget_cannot_expand_profile(self): + with self.assertRaisesRegex(ModelBudgetError, "output token budget exceeds profile"): + validate_request(packet(), context_window=20000, max_output_tokens=2048) + + def test_input_budget_cannot_expand_profile(self): + with self.assertRaisesRegex(ModelBudgetError, "packet token limit exceeds profile"): + validate_request(packet(token_limit=5000), context_window=20000) + + def test_byte_budget_cannot_expand_profile(self): + with self.assertRaisesRegex(ModelBudgetError, "byte limit exceeds profile"): + validate_request(packet(byte_limit=16385), context_window=20000) + + def test_evidence_budget_is_checked_even_without_envelope(self): + with self.assertRaisesRegex(ModelBudgetError, "selected evidence exceeds its evidence byte budget"): + validate_request(packet(evidence_bytes=301, evidence_byte_limit=300)) + + def test_nested_accumulated_history_is_rejected(self): + value = packet() + value["scope"] = {"state": {"messages": ["old"]}} + with self.assertRaisesRegex(ModelBudgetError, "forbidden accumulated context"): + validate_request(value) + + def test_full_packet_rejects_unknown_top_level_context(self): + value = packet() + value.update({"context_id": "c1", "packet_id": "p1", "tool_output": "log"}) + with self.assertRaisesRegex(ModelBudgetError, "unknown top-level context field"): + validate_request(value) + + def test_packet_byte_overflow_is_rejected(self): + with self.assertRaisesRegex(ModelBudgetError, "byte budget"): + validate_request(packet(packet_bytes=16000, evidence_bytes=1000)) + + def test_full_packet_rejects_stale_serialized_size(self): + value = packet() + value.update({ + "context_id": "c1", + "packet_id": "p1", + "evidence": {"selected": [], "excluded": []}, + }) + with self.assertRaisesRegex(ModelBudgetError, "does not match serialized packet"): + validate_request(value) + + def test_packet_without_ids_cannot_lie_about_serialized_size(self): + value = packet() + value["task"] = "x" * 20000 + with self.assertRaisesRegex(ModelBudgetError, "does not match serialized packet"): + validate_request(value) + + def test_full_packet_rejects_inconsistent_evidence_totals(self): + value = packet(packet_bytes=215, evidence_bytes=5) + value.update({ + "context_id": "c1", + "packet_id": "p1", + "evidence": {"selected": [{"path": "x", "bytes": 4}], "excluded": []}, + }) + with self.assertRaisesRegex(ModelBudgetError, "selected evidence byte metadata"): + validate_request(value) + + def test_full_packet_rejects_accumulated_history(self): + value = packet() + value["history"] = ["old response"] + with self.assertRaisesRegex(ModelBudgetError, "forbidden accumulated context"): + validate_request(value) + + def test_full_packet_rejects_unknown_exclusion_reason(self): + value = packet(packet_bytes=203, evidence_bytes=0) + value.update({ + "context_id": "c1", + "packet_id": "p1", + "evidence": {"selected": [], "excluded": [{"path": "x", "reason_code": "old"}]}, + }) + # Stabilize the serialized size after adding the evidence envelope. + for _ in range(4): + value["budget"]["packet_bytes"] = len( + json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8") + ) + with self.assertRaisesRegex(ModelBudgetError, "unknown reason code"): + validate_request(value) + + def test_response_overrun_is_rejected(self): + with self.assertRaisesRegex(ModelBudgetError, "response exceeded output token budget"): + validate_response(1025, max_output_tokens=1024) + + def test_response_length_finish_is_checkpointable(self): + result = validate_response(1024, max_output_tokens=1024, finish_reason="length") + self.assertTrue(result["truncated"]) + + def test_responses_api_incomplete_reason_is_checkpointable(self): + result = validate_response( + 1024, + max_output_tokens=1024, + finish_reason="max_output_tokens", + ) + self.assertTrue(result["truncated"]) + + def test_stream_envelope_usage_is_validated(self): + event = { + "type": "response.completed", + "response": { + "status": "completed", + "usage": { + "input_tokens": 300, + "output_tokens": 40, + "total_tokens": 340, + }, + }, + } + self.assertEqual(extract_response_usage(event)["output_tokens"], 40) + result = validate_provider_response(event, max_output_tokens=64) + self.assertEqual(result["status"], "completed") + + def test_provider_usage_total_cannot_be_inconsistent(self): + response = { + "status": "completed", + "usage": {"input_tokens": 10, "output_tokens": 5, "total_tokens": 14}, + } + with self.assertRaisesRegex(ModelBudgetError, "total is smaller"): + validate_provider_response(response, max_output_tokens=16) + + def test_failed_provider_response_is_not_reusable(self): + response = { + "status": "failed", + "usage": {"input_tokens": 10, "output_tokens": 0, "total_tokens": 10}, + } + with self.assertRaisesRegex(ModelBudgetError, "not reusable"): + validate_provider_response(response, max_output_tokens=16) + + def test_provider_response_without_completion_status_is_rejected(self): + response = { + "usage": {"input_tokens": 10, "output_tokens": 1, "total_tokens": 11}, + } + with self.assertRaisesRegex(ModelBudgetError, "missing completion status"): + validate_provider_response(response, max_output_tokens=16) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/test_validate_task_pointer.py b/scripts/test_validate_task_pointer.py new file mode 100644 index 0000000..2d922c0 --- /dev/null +++ b/scripts/test_validate_task_pointer.py @@ -0,0 +1,63 @@ +#!/usr/bin/env python3 +import tempfile +import unittest +import json +from pathlib import Path + +from validate_task_pointer import PointerError, validate_pointer + + +VALID = """# pointer +## Current +context_id: c1 +## Read +read paths only; coverage/report.json +## Task +one result +## Next +one next +## Verify +one test +## Stop +stop on drift +""" + + +class TaskPointerTests(unittest.TestCase): + def write(self, text: str) -> Path: + directory = tempfile.TemporaryDirectory() + self.addCleanup(directory.cleanup) + path = Path(directory.name) / "nextTask.md" + path.write_text(text, encoding="utf-8") + return path + + def test_valid_pointer_reports_bounded_size(self): + result = validate_pointer(self.write(VALID)) + self.assertLessEqual(result["bytes"], 8192) + + def test_context_id_must_match_lock_when_supplied(self): + directory = tempfile.TemporaryDirectory() + self.addCleanup(directory.cleanup) + root = Path(directory.name) + pointer = root / "nextTask.md" + pointer.write_text(VALID, encoding="utf-8") + lock = root / "context-lock.json" + lock.write_text(json.dumps({"context_id": "other"}), encoding="utf-8") + with self.assertRaisesRegex(PointerError, "does not match lock"): + validate_pointer(pointer, lock_path=lock) + + def test_history_heading_is_rejected(self): + with self.assertRaisesRegex(PointerError, "history section"): + validate_pointer(self.write(VALID + "\n## History\nold log\n")) + + def test_evidence_heading_is_rejected(self): + with self.assertRaisesRegex(PointerError, "history section"): + validate_pointer(self.write(VALID + "\n## Evidence\nold evidence\n")) + + def test_large_pointer_is_rejected(self): + with self.assertRaisesRegex(PointerError, "byte budget"): + validate_pointer(self.write(VALID + "x" * 9000)) + + +if __name__ == "__main__": + unittest.main() diff --git a/scripts/validate_baseline.py b/scripts/validate_baseline.py index da32f3f..c889f8e 100755 --- a/scripts/validate_baseline.py +++ b/scripts/validate_baseline.py @@ -189,6 +189,301 @@ def validate(repo_root: Path, lock_path: Path, source_path: Path, manifest_path: errors.append("posemath runtime report is missing") elif posemath_report_hash != sha256(posemath_report_path): errors.append("posemath runtime report hash does not match context lock") + interpreter_report_path = repo_root / "coverage/interpreter-runtime.report.json" + interpreter_report_hash = lock.get("interpreter_runtime_report_sha256") + if interpreter_report_hash: + if not interpreter_report_path.is_file(): + errors.append("interpreter runtime report is missing") + elif interpreter_report_hash != sha256(interpreter_report_path): + errors.append("interpreter runtime report hash does not match context lock") + motion_report_path = repo_root / "coverage/motion-runtime.report.json" + motion_report_hash = lock.get("motion_runtime_report_sha256") + if motion_report_hash: + if not motion_report_path.is_file(): + 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") + 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: + if not kinematics_runtime_report_path.is_file(): + errors.append("kinematics runtime report is missing") + elif kinematics_runtime_report_hash != sha256(kinematics_runtime_report_path): + errors.append("kinematics runtime report hash does not match context lock") + kinematics_closure_path = repo_root / "coverage/kinematics-source-closure.report.json" + kinematics_closure_hash = lock.get("kinematics_source_closure_report_sha256") + if kinematics_closure_hash: + if not kinematics_closure_path.is_file(): + errors.append("kinematics source closure report is missing") + elif kinematics_closure_hash != sha256(kinematics_closure_path): + errors.append("kinematics source closure report hash does not match context lock") + if kinematics_closure_path.is_file() and isinstance(inventory_count, dict): + try: + kinematics_report = json.loads(kinematics_closure_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics source closure report is not valid JSON") + else: + expected_counts = { + "kinematics_source_files": kinematics_report.get("source", {}).get("implementation_file_count"), + "kinematics_config_entries": kinematics_report.get("configuration", {}).get("entry_count"), + "kinematics_hal_entries": kinematics_report.get("hal", {}).get("entry_count"), + "kinematics_test_files": kinematics_report.get("tests", {}).get("file_count"), + } + for field, value in expected_counts.items(): + if value is not None and inventory_count.get(field) != value: + errors.append(f"{field} count does not match kinematics closure report") + kinematics_graph_path = repo_root / "coverage/kinematics-config-graph.report.json" + kinematics_graph_hash = lock.get("kinematics_config_graph_report_sha256") + if kinematics_graph_hash: + if not kinematics_graph_path.is_file(): + errors.append("kinematics config graph report is missing") + elif kinematics_graph_hash != sha256(kinematics_graph_path): + errors.append("kinematics config graph report hash does not match context lock") + samples_path = repo_root / "coverage/kinematics-oracle-samples.jsonl" + samples_hash = lock.get("kinematics_oracle_samples_sha256") + if samples_hash: + if not samples_path.is_file(): + errors.append("kinematics oracle samples are missing") + elif samples_hash != sha256(samples_path): + errors.append("kinematics oracle samples hash does not match context lock") + oracle_report_path = repo_root / "coverage/kinematics-oracle.report.json" + oracle_report_hash = lock.get("kinematics_oracle_report_sha256") + if oracle_report_hash: + if not oracle_report_path.is_file(): + errors.append("kinematics oracle report is missing") + elif oracle_report_hash != sha256(oracle_report_path): + errors.append("kinematics oracle report hash does not match context lock") + oracle_schema_path = repo_root / "coverage/kinematics-golden-schema.json" + oracle_schema_hash = lock.get("kinematics_golden_schema_sha256") + if oracle_schema_hash: + if not oracle_schema_path.is_file(): + errors.append("kinematics golden schema is missing") + elif oracle_schema_hash != sha256(oracle_schema_path): + errors.append("kinematics golden schema hash does not match context lock") + if kinematics_graph_path.is_file() and isinstance(inventory_count, dict): + try: + graph = json.loads(kinematics_graph_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics config graph report is not valid JSON") + else: + graph_counts = graph.get("counts", {}) + for field, report_field in (("kinematics_graph_entries", "entry_nodes"), ("kinematics_graph_edges", "edges"), ("kinematics_oracle_samples", "samples")): + value = graph_counts.get(report_field) + if value is not None and inventory_count.get(field) != value: + errors.append(f"{field} count does not match kinematics config graph report") + if oracle_report_path.is_file() and isinstance(inventory_count, dict): + try: + oracle_report = json.loads(oracle_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics oracle report is not valid JSON") + else: + if oracle_report.get("sample_count") is not None and inventory_count.get("kinematics_oracle_samples") != oracle_report.get("sample_count"): + errors.append("kinematics oracle sample count does not match oracle report") + abi_contract_path = repo_root / "coverage/kinematics-abi-contract.json" + abi_contract_hash = lock.get("kinematics_abi_contract_sha256") + if abi_contract_hash: + if not abi_contract_path.is_file(): + errors.append("kinematics ABI contract is missing") + elif abi_contract_hash != sha256(abi_contract_path): + errors.append("kinematics ABI contract hash does not match context lock") + if abi_contract_path.is_file(): + try: + abi_contract = json.loads(abi_contract_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics ABI contract is not valid JSON") + else: + if abi_contract.get("status") != "verified": + errors.append("kinematics ABI contract is not verified") + mapping_contract_path = repo_root / "coverage/kinematics-mapping-contract.json" + mapping_contract_hash = lock.get("kinematics_mapping_contract_sha256") + if mapping_contract_hash: + if not mapping_contract_path.is_file(): + errors.append("kinematics mapping contract is missing") + elif mapping_contract_hash != sha256(mapping_contract_path): + errors.append("kinematics mapping contract hash does not match context lock") + if mapping_contract_path.is_file(): + try: + mapping_contract = json.loads(mapping_contract_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics mapping contract is not valid JSON") + else: + if mapping_contract.get("status") != "verified": + errors.append("kinematics mapping contract is not verified") + numeric_policy_path = repo_root / "coverage/kinematics-numeric-policy.json" + numeric_policy_hash = lock.get("kinematics_numeric_policy_sha256") + if numeric_policy_hash: + if not numeric_policy_path.is_file(): + errors.append("kinematics numeric policy is missing") + elif numeric_policy_hash != sha256(numeric_policy_path): + errors.append("kinematics numeric policy hash does not match context lock") + if numeric_policy_path.is_file(): + try: + numeric_policy = json.loads(numeric_policy_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("kinematics numeric policy is not valid JSON") + else: + if numeric_policy.get("status") != "verified": + errors.append("kinematics numeric policy is not verified") + trivkins_report_path = repo_root / "coverage/trivkins-integration.report.json" + trivkins_report_hash = lock.get("trivkins_integration_report_sha256") + if trivkins_report_hash: + if not trivkins_report_path.is_file(): + errors.append("trivkins integration report is missing") + elif trivkins_report_hash != sha256(trivkins_report_path): + errors.append("trivkins integration report hash does not match context lock") + coupled_report_path = repo_root / "coverage/coupled-kinematics.report.json" + coupled_report_hash = lock.get("coupled_kinematics_report_sha256") + if coupled_report_hash: + if not coupled_report_path.is_file(): + errors.append("coupled kinematics report is missing") + elif coupled_report_hash != sha256(coupled_report_path): + errors.append("coupled kinematics report hash does not match context lock") + if coupled_report_path.is_file(): + try: + coupled_report = json.loads(coupled_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("coupled kinematics report is not valid JSON") + else: + if coupled_report.get("implementation_status") != "verified": + errors.append("coupled kinematics implementation is not verified") + if coupled_report.get("closure", {}).get("official_oracle") != "blocked": + errors.append("coupled kinematics oracle status must remain explicitly blocked") + corexy_hal_report_path = repo_root / "coverage/corexy-hal.report.json" + corexy_hal_report_hash = lock.get("corexy_hal_report_sha256") + if corexy_hal_report_hash: + if not corexy_hal_report_path.is_file(): + errors.append("corexy HAL report is missing") + elif corexy_hal_report_hash != sha256(corexy_hal_report_path): + errors.append("corexy HAL report hash does not match context lock") + if corexy_hal_report_path.is_file(): + try: + corexy_hal_report = json.loads(corexy_hal_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("corexy HAL report is not valid JSON") + else: + if corexy_hal_report.get("implementation_status") != "verified": + errors.append("corexy HAL implementation is not verified") + if corexy_hal_report.get("oracle", {}).get("status") != "blocked": + errors.append("corexy HAL oracle status must remain explicitly blocked") + fiveaxis_report_path = repo_root / "coverage/fiveaxis-kinematics.report.json" + fiveaxis_report_hash = lock.get("fiveaxis_kinematics_report_sha256") + if fiveaxis_report_hash: + if not fiveaxis_report_path.is_file(): + errors.append("fiveaxis kinematics report is missing") + elif fiveaxis_report_hash != sha256(fiveaxis_report_path): + errors.append("fiveaxis kinematics report hash does not match context lock") + if fiveaxis_report_path.is_file(): + try: + fiveaxis_report = json.loads(fiveaxis_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("fiveaxis kinematics report is not valid JSON") + else: + if fiveaxis_report.get("implementation_status") != "verified": + errors.append("fiveaxis kinematics implementation is not verified") + if fiveaxis_report.get("oracle", {}).get("status") != "blocked": + errors.append("fiveaxis kinematics oracle status must remain explicitly blocked") + trt_report_path = repo_root / "coverage/trt-kinematics.report.json" + trt_report_hash = lock.get("trt_kinematics_report_sha256") + if trt_report_hash: + if not trt_report_path.is_file(): + errors.append("TRT kinematics report is missing") + elif trt_report_hash != sha256(trt_report_path): + errors.append("TRT kinematics report hash does not match context lock") + if trt_report_path.is_file(): + try: + trt_report = json.loads(trt_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("TRT kinematics report is not valid JSON") + else: + if trt_report.get("implementation_status") != "verified": + errors.append("TRT kinematics implementation is not verified") + if trt_report.get("oracle", {}).get("status") != "blocked": + errors.append("TRT kinematics oracle status must remain explicitly blocked") + robot_report_path = repo_root / "coverage/robot-kinematics.report.json" + robot_report_hash = lock.get("robot_kinematics_report_sha256") + if robot_report_hash: + if not robot_report_path.is_file(): + errors.append("robot kinematics report is missing") + elif robot_report_hash != sha256(robot_report_path): + errors.append("robot kinematics report hash does not match context lock") + if robot_report_path.is_file(): + try: + robot_report = json.loads(robot_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("robot kinematics report is not valid JSON") + else: + if robot_report.get("implementation_status") != "verified": + errors.append("robot kinematics implementation is not verified") + if robot_report.get("oracle", {}).get("status") != "blocked": + errors.append("robot kinematics oracle status must remain explicitly blocked") + genser_report_path = repo_root / "coverage/genser-kinematics.report.json" + genser_report_hash = lock.get("genser_kinematics_report_sha256") + if genser_report_hash: + if not genser_report_path.is_file(): + errors.append("genser kinematics report is missing") + elif genser_report_hash != sha256(genser_report_path): + errors.append("genser kinematics report hash does not match context lock") + if genser_report_path.is_file(): + try: + genser_report = json.loads(genser_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("genser kinematics report is not valid JSON") + else: + if genser_report.get("implementation_status") != "verified": + errors.append("genser kinematics implementation is not verified") + if genser_report.get("oracle", {}).get("status") != "blocked": + errors.append("genser kinematics oracle status must remain explicitly blocked") + delta_report_path = repo_root / "coverage/delta-kinematics.report.json" + delta_report_hash = lock.get("delta_kinematics_report_sha256") + if delta_report_hash: + if not delta_report_path.is_file(): + errors.append("delta kinematics report is missing") + elif delta_report_hash != sha256(delta_report_path): + errors.append("delta kinematics report hash does not match context lock") + if delta_report_path.is_file(): + try: + delta_report = json.loads(delta_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("delta kinematics report is not valid JSON") + else: + if delta_report.get("implementation_status") != "verified": + errors.append("delta kinematics implementation is not verified") + if delta_report.get("oracle", {}).get("status") != "blocked": + errors.append("delta kinematics oracle status must remain explicitly blocked") + tripod_report_path = repo_root / "coverage/tripod-kinematics.report.json" + tripod_report_hash = lock.get("tripod_kinematics_report_sha256") + if tripod_report_hash: + if not tripod_report_path.is_file(): + errors.append("tripod kinematics report is missing") + elif tripod_report_hash != sha256(tripod_report_path): + errors.append("tripod kinematics report hash does not match context lock") + if tripod_report_path.is_file(): + try: + tripod_report = json.loads(tripod_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("tripod kinematics report is not valid JSON") + else: + if tripod_report.get("implementation_status") != "verified": + errors.append("tripod kinematics implementation is not verified") + if tripod_report.get("oracle", {}).get("status") != "blocked": + errors.append("tripod kinematics oracle status must remain explicitly blocked") + genhex_report_path = repo_root / "coverage/genhex-kinematics.report.json" + genhex_report_hash = lock.get("genhex_kinematics_report_sha256") + if genhex_report_hash: + if not genhex_report_path.is_file(): + errors.append("genhex kinematics report is missing") + elif genhex_report_hash != sha256(genhex_report_path): + errors.append("genhex kinematics report hash does not match context lock") + if genhex_report_path.is_file(): + try: + genhex_report = json.loads(genhex_report_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError): + errors.append("genhex kinematics report is not valid JSON") + else: + if genhex_report.get("implementation_status") != "verified": + 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") 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/scripts/validate_model_budget.py b/scripts/validate_model_budget.py new file mode 100644 index 0000000..6c549db --- /dev/null +++ b/scripts/validate_model_budget.py @@ -0,0 +1,501 @@ +#!/usr/bin/env python3 +"""Check that a bounded context packet leaves room for model output. + +This is deliberately provider-neutral. The caller supplies the model's +context window; the packet's input budget and a fixed output reserve are +checked before an API request is made. +""" + +from __future__ import annotations + +import argparse +import json +import math +from pathlib import Path +from typing import Any + + +OUTPUT_TOKEN_RESERVE = { + "doc": 768, + "feature": 1024, + "contract": 1536, + "milestone": 2048, +} +PROFILE_INPUT_TOKEN_LIMIT = { + "doc": 2048, + "feature": 4096, + "contract": 6144, + "milestone": 8192, +} +PROFILE_BYTE_LIMIT = { + "doc": 8192, + "feature": 16384, + "contract": 24576, + "milestone": 32768, +} +PROFILE_EVIDENCE_BYTE_LIMIT = { + "doc": 2048, + "feature": 6144, + "contract": 10240, + "milestone": 14336, +} +PROFILE_EVIDENCE_FILE_LIMIT = { + "doc": 8, + "feature": 16, + "contract": 24, + "milestone": 32, +} +DEFAULT_CONTEXT_WINDOW = 16384 +DEFAULT_SAFETY_MARGIN = 256 +# Without a provider tokenizer, UTF-8 bytes are the only portable hard upper +# bound. Any multi-byte-per-token heuristic can under-count provider tokens +# for punctuation-heavy or non-ASCII input and is unsafe for a request gate. +TOKEN_BYTES_PER_TOKEN = 1 +PACKET_FIELDS = { + "context_id", + "packet_id", + "task", + "header", + "baseline", + "scope", + "contracts", + "evidence", + "risks", + "next", + "forbidden", + "budget", +} +FORBIDDEN_CONTEXT_FIELDS = { + "history", + "chat", + "conversation", + "messages", + "transcript", + "previous_packet", + "prior_context", +} +EXCLUSION_REASON_CODES = {"E1", "E2", "E3", "E4", "E5", "E6"} + + +class ModelBudgetError(ValueError): + """Raised when a request cannot fit input, output, and safety budgets.""" + + +def _response_object(value: Any) -> dict[str, Any]: + """Return a provider response object from a response or SSE envelope. + + The Responses API exposes usage on the response itself, while streaming + ``response.completed`` events wrap it below a ``response`` key. Keeping + this normalization here prevents callers from accidentally validating the + event envelope instead of the actual provider usage. + """ + + if not isinstance(value, dict): + raise ModelBudgetError("provider response must be an object") + response = value.get("response") + if isinstance(response, dict): + return response + return value + + +def extract_response_usage(value: Any) -> dict[str, int]: + """Extract authoritative token usage from a provider response envelope.""" + + response = _response_object(value) + usage = response.get("usage") + if not isinstance(usage, dict): + raise ModelBudgetError("provider response is missing usage") + try: + input_tokens = int(usage["input_tokens"]) + output_tokens = int(usage["output_tokens"]) + total_tokens = int(usage.get("total_tokens", input_tokens + output_tokens)) + except (KeyError, TypeError, ValueError) as exc: + raise ModelBudgetError("provider usage has invalid token counts") from exc + if min(input_tokens, output_tokens, total_tokens) < 0: + raise ModelBudgetError("provider usage token counts must be non-negative") + if total_tokens < input_tokens + output_tokens: + raise ModelBudgetError("provider usage total is smaller than input plus output") + return { + "input_tokens": input_tokens, + "output_tokens": output_tokens, + "total_tokens": total_tokens, + } + + +def _find_forbidden(value: Any, path: str = "") -> str | None: + """Find accumulated conversation state, including when nested.""" + + if isinstance(value, dict): + for key, child in value.items(): + key_text = str(key) + child_path = f"{path}.{key_text}" if path else key_text + if key_text in FORBIDDEN_CONTEXT_FIELDS: + return child_path + found = _find_forbidden(child, child_path) + if found: + return found + elif isinstance(value, list): + for index, child in enumerate(value): + found = _find_forbidden(child, f"{path}[{index}]") + if found: + return found + return None + + +def _packet_input_bytes(packet: dict[str, Any]) -> int: + budget = packet.get("budget") + if not isinstance(budget, dict): + raise ModelBudgetError("packet budget is missing") + try: + packet_bytes = int(budget["packet_bytes"]) + evidence_bytes = int(budget["selected_evidence_bytes"]) + except (KeyError, TypeError, ValueError) as exc: + raise ModelBudgetError("packet budget lacks input byte totals") from exc + if packet_bytes < 0 or evidence_bytes < 0: + raise ModelBudgetError("packet input byte totals must be non-negative") + return packet_bytes + evidence_bytes + + +def _canonical_packet_bytes(packet: dict[str, Any]) -> int: + """Return the exact UTF-8 size used by the packet generator.""" + + return len( + json.dumps(packet, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8") + ) + + +def _validate_packet_metadata(packet: dict[str, Any], budget: dict[str, Any]) -> None: + """Reject stale or inconsistent budget metadata before a model request. + + Small unit-test fixtures may contain only a budget object. Full packets + generated for a request always carry ``context_id``/``packet_id`` and an + evidence envelope, so strict consistency checks are applied to those. + """ + + forbidden = _find_forbidden(packet) + if forbidden: + raise ModelBudgetError( + "packet contains forbidden accumulated context " + f"field: {forbidden}" + ) + + # Generated packets have a closed envelope. Reject ad-hoc top-level + # fields that could smuggle full logs, tool output or a previous request + # beside the audited eight segments. + if "budget" in packet: + unknown = sorted(set(packet) - PACKET_FIELDS) + if unknown: + raise ModelBudgetError( + "packet contains unknown top-level context field: " + f"{unknown[0]}" + ) + + if set(packet) != {"budget"}: + actual = _canonical_packet_bytes(packet) + declared = int(budget["packet_bytes"]) + if declared != actual: + raise ModelBudgetError( + "packet byte metadata does not match serialized packet " + f"(declared={declared}, actual={actual})" + ) + + evidence = packet.get("evidence") + if not isinstance(evidence, dict): + return + selected = evidence.get("selected", []) + excluded = evidence.get("excluded", []) + if not isinstance(selected, list) or not isinstance(excluded, list): + raise ModelBudgetError("packet evidence must contain selected/excluded lists") + for item in excluded: + if not isinstance(item, dict) or item.get("reason_code") not in EXCLUSION_REASON_CODES: + raise ModelBudgetError("excluded evidence has an unknown reason code") + selected_bytes = 0 + for item in selected: + if not isinstance(item, dict): + raise ModelBudgetError("selected evidence entries must be objects") + try: + item_bytes = int(item["bytes"]) + except (KeyError, TypeError, ValueError) as exc: + raise ModelBudgetError("selected evidence entry lacks bytes") from exc + if item_bytes < 0: + raise ModelBudgetError("selected evidence bytes must be non-negative") + selected_bytes += item_bytes + if selected_bytes != int(budget["selected_evidence_bytes"]): + raise ModelBudgetError( + "selected evidence byte metadata does not match entries " + f"(declared={budget['selected_evidence_bytes']}, actual={selected_bytes})" + ) + if "selected_evidence_files" in budget and int(budget["selected_evidence_files"]) != len(selected): + raise ModelBudgetError("selected evidence file count does not match entries") + if "excluded_evidence_files" in budget and int(budget["excluded_evidence_files"]) != len(excluded): + raise ModelBudgetError("excluded evidence file count does not match entries") + if "evidence_byte_limit" in budget and selected_bytes > int(budget["evidence_byte_limit"]): + raise ModelBudgetError("selected evidence exceeds its evidence byte budget") + if "evidence_file_limit" in budget and len(selected) > int(budget["evidence_file_limit"]): + raise ModelBudgetError("selected evidence exceeds its file budget") + + +def estimate_input_tokens(packet: dict[str, Any]) -> int: + """Return a safe provider-neutral upper bound from UTF-8 bytes. + + A tokenizer supplied by the API client may replace this estimate. The + byte-for-token bound is deliberately strict: it may reject a packet that + would fit a particular provider, but it cannot silently approve a packet + that that provider tokenizes larger than expected. + """ + + return math.ceil(_packet_input_bytes(packet) / TOKEN_BYTES_PER_TOKEN) + + +def validate_request( + packet: dict[str, Any], + *, + context_window: int = DEFAULT_CONTEXT_WINDOW, + max_output_tokens: int | None = None, + safety_margin: int = DEFAULT_SAFETY_MARGIN, + input_tokens: int | None = None, + overhead_tokens: int = 0, +) -> dict[str, int]: + budget = packet.get("budget") + if not isinstance(budget, dict): + raise ModelBudgetError("packet budget is missing") + try: + input_limit = int(budget["token_limit"]) + byte_limit = int(budget["byte_limit"]) + packet_bytes = int(budget["packet_bytes"]) + selected_evidence_bytes = int(budget["selected_evidence_bytes"]) + except (KeyError, TypeError, ValueError) as exc: + raise ModelBudgetError("packet budget lacks required fields") from exc + profile = str(budget.get("profile", "")) + try: + profile_output_limit = OUTPUT_TOKEN_RESERVE[profile] + profile_input_limit = PROFILE_INPUT_TOKEN_LIMIT[profile] + profile_byte_limit = PROFILE_BYTE_LIMIT[profile] + profile_evidence_limit = PROFILE_EVIDENCE_BYTE_LIMIT[profile] + profile_file_limit = PROFILE_EVIDENCE_FILE_LIMIT[profile] + except KeyError as exc: + raise ModelBudgetError(f"unknown packet profile: {profile}") from exc + if max_output_tokens is None: + max_output_tokens = profile_output_limit + try: + context_window = int(context_window) + max_output_tokens = int(max_output_tokens) + safety_margin = int(safety_margin) + overhead_tokens = int(overhead_tokens) + declared_evidence_limit = int(budget.get("evidence_byte_limit", profile_evidence_limit)) + declared_file_limit = int(budget.get("evidence_file_limit", profile_file_limit)) + except (TypeError, ValueError) as exc: + raise ModelBudgetError("model budget fields must be integers") from exc + values = ( + context_window, + max_output_tokens, + safety_margin, + input_limit, + byte_limit, + packet_bytes, + selected_evidence_bytes, + overhead_tokens, + declared_evidence_limit, + declared_file_limit, + ) + if any(value < 0 for value in values): + raise ModelBudgetError("model budgets must be non-negative") + if input_limit > profile_input_limit: + raise ModelBudgetError( + "packet token limit exceeds profile " + f"(declared={input_limit}, profile={profile_input_limit})" + ) + if byte_limit > profile_byte_limit: + raise ModelBudgetError( + "packet byte limit exceeds profile " + f"(declared={byte_limit}, profile={profile_byte_limit})" + ) + if declared_evidence_limit > profile_evidence_limit: + raise ModelBudgetError( + "evidence byte limit exceeds profile " + f"(declared={declared_evidence_limit}, profile={profile_evidence_limit})" + ) + if declared_file_limit > profile_file_limit: + raise ModelBudgetError( + "evidence file limit exceeds profile " + f"(declared={declared_file_limit}, profile={profile_file_limit})" + ) + if max_output_tokens > profile_output_limit: + raise ModelBudgetError( + "output token budget exceeds profile " + f"(requested={max_output_tokens}, profile={profile_output_limit})" + ) + try: + _validate_packet_metadata(packet, budget) + except ModelBudgetError: + raise + except (KeyError, TypeError, ValueError) as exc: + raise ModelBudgetError("packet budget metadata is malformed") from exc + context_bytes = packet_bytes + selected_evidence_bytes + if packet_bytes > byte_limit or context_bytes > byte_limit: + raise ModelBudgetError("packet exceeds its declared byte budget") + if selected_evidence_bytes > declared_evidence_limit: + raise ModelBudgetError("selected evidence exceeds its evidence byte budget") + if selected_evidence_bytes > profile_evidence_limit: + raise ModelBudgetError("selected evidence exceeds profile byte budget") + try: + estimated_input = estimate_input_tokens(packet) if input_tokens is None else int(input_tokens) + except (TypeError, ValueError) as exc: + raise ModelBudgetError("input token count must be an integer") from exc + if estimated_input < 0: + raise ModelBudgetError("input token count must be non-negative") + if estimated_input > input_limit: + raise ModelBudgetError( + "packet input token budget exceeded " + f"(estimated={estimated_input}, limit={input_limit})" + ) + # Reserve the input actually sent for this request plus fixed provider + # overhead. Reserving the full profile here rejects small packets for no + # reason, while the packet's own input_limit still prevents later growth. + effective_input = estimated_input + overhead_tokens + available = context_window - safety_margin - max_output_tokens + if effective_input > available: + raise ModelBudgetError( + "model context budget exceeded " + f"(input={effective_input}, output={max_output_tokens}, " + f"safety={safety_margin}, window={context_window})" + ) + return { + "context_window": context_window, + "input_token_limit": input_limit, + "estimated_input_tokens": estimated_input, + "overhead_tokens": overhead_tokens, + "estimated_request_input_tokens": estimated_input + overhead_tokens, + "max_output_tokens": max_output_tokens, + "safety_margin": safety_margin, + "reserved_total_tokens": effective_input + max_output_tokens + safety_margin, + "available_input_tokens": max(0, available - overhead_tokens), + } + + +def validate_response( + output_tokens: int, + *, + max_output_tokens: int, + finish_reason: str | None = None, +) -> dict[str, int | str | None]: + """Validate the completion actually returned by a provider. + + The preflight check protects the request, while this postflight check + catches SDKs that ignore or reinterpret ``max_output_tokens``. A length + finish is reported as truncation so callers can persist a checkpoint and + continue with a fresh bounded request instead of replaying the old one. + """ + + try: + actual = int(output_tokens) + limit = int(max_output_tokens) + except (TypeError, ValueError) as exc: + raise ModelBudgetError("response token counts must be integers") from exc + if actual < 0 or limit < 0: + raise ModelBudgetError("response token counts must be non-negative") + if actual > limit: + raise ModelBudgetError( + "model response exceeded output token budget " + f"(actual={actual}, limit={limit})" + ) + return { + "output_tokens": actual, + "max_output_tokens": limit, + "finish_reason": finish_reason, + "truncated": finish_reason in { + "length", + "max_tokens", + "max_output_tokens", + "max_completion_tokens", + }, + } + + +def validate_provider_response( + response: Any, + *, + max_output_tokens: int, +) -> dict[str, int | str | None | bool]: + """Validate usage and completion state returned by a provider. + + ``response`` may be a normal Responses API object or a streaming event + envelope. Failed/incomplete responses are rejected as non-reusable so a + caller cannot append partial output to the next request. A length-limit + completion is returned as ``truncated`` and must be resumed from a fresh + checkpoint. + """ + + response_object = _response_object(response) + usage = extract_response_usage(response_object) + status = response_object.get("status") + incomplete = response_object.get("incomplete_details") + finish_reason = None + if isinstance(incomplete, dict): + reason = incomplete.get("reason") + if reason is not None: + finish_reason = str(reason) + if finish_reason is None and response_object.get("finish_reason") is not None: + finish_reason = str(response_object["finish_reason"]) + if status is None and finish_reason is None: + raise ModelBudgetError("provider response is missing completion status") + result = validate_response( + usage["output_tokens"], + max_output_tokens=max_output_tokens, + finish_reason=finish_reason, + ) + if status in {"failed", "cancelled"}: + raise ModelBudgetError( + f"provider response is not reusable (status={status})" + ) + if status == "incomplete" and not result["truncated"]: + raise ModelBudgetError( + "provider response is incomplete without a length checkpoint reason" + ) + result.update(usage) + result["status"] = str(status) if status is not None else None + return result + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("packet", type=Path) + parser.add_argument("--context-window", type=int, default=DEFAULT_CONTEXT_WINDOW) + parser.add_argument("--max-output-tokens", type=int) + parser.add_argument("--safety-margin", type=int, default=DEFAULT_SAFETY_MARGIN) + parser.add_argument("--input-tokens", type=int, help="exact count from the provider tokenizer") + parser.add_argument( + "--overhead-tokens", + type=int, + required=True, + help="system/tool/history tokens outside the context packet", + ) + args = parser.parse_args() + try: + with args.packet.open("r", encoding="utf-8") as handle: + packet = json.load(handle) + if not isinstance(packet, dict): + raise ModelBudgetError("packet must be a JSON object") + result = validate_request( + packet, + context_window=args.context_window, + max_output_tokens=args.max_output_tokens, + safety_margin=args.safety_margin, + input_tokens=args.input_tokens, + overhead_tokens=args.overhead_tokens, + ) + except (OSError, UnicodeError, json.JSONDecodeError, ModelBudgetError) as exc: + parser.error(str(exc)) + print( + "model_budget=valid " + f"input_tokens={result['input_token_limit']} " + f"estimated_input={result['estimated_input_tokens']} " + f"overhead={result['overhead_tokens']} " + f"max_output={result['max_output_tokens']} " + f"reserved_total={result['reserved_total_tokens']}" + ) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/validate_task_pointer.py b/scripts/validate_task_pointer.py new file mode 100644 index 0000000..5b26a06 --- /dev/null +++ b/scripts/validate_task_pointer.py @@ -0,0 +1,89 @@ +#!/usr/bin/env python3 +"""Validate the small task pointer loaded at the start of a work session.""" + +from __future__ import annotations + +import argparse +import json +import re +from pathlib import Path + + +MAX_POINTER_BYTES = 8192 +MAX_POINTER_LINES = 180 +REQUIRED_HEADINGS = ("## Current", "## Read", "## Task", "## Next", "## Verify", "## Stop") +FORBIDDEN_HEADINGS = ( + "## 6. 已验证证据", + "## Evidence", + "## History", + "## 历史", + "## Chat", +) + + +class PointerError(ValueError): + """Raised when the bootstrap pointer would expand the model context.""" + + +def validate_pointer( + path: Path, + *, + max_bytes: int = MAX_POINTER_BYTES, + max_lines: int = MAX_POINTER_LINES, + lock_path: Path | None = None, +) -> dict[str, int]: + text = path.read_text(encoding="utf-8") + size = len(text.encode("utf-8")) + lines = len(text.splitlines()) + if size > max_bytes: + raise PointerError(f"task pointer exceeds byte budget ({size}>{max_bytes})") + if lines > max_lines: + raise PointerError(f"task pointer exceeds line budget ({lines}>{max_lines})") + missing = [heading for heading in REQUIRED_HEADINGS if heading not in text] + if missing: + raise PointerError(f"task pointer missing sections: {', '.join(missing)}") + found = [heading for heading in FORBIDDEN_HEADINGS if re.search(rf"^\s*{re.escape(heading)}\s*$", text, re.MULTILINE)] + if found: + raise PointerError(f"task pointer contains history section: {found[0]}") + if "coverage/" not in text: + raise PointerError("task pointer must direct large evidence to paths") + pointer_match = re.search(r"^context_id:\s*([^\s]+)\s*$", text, re.MULTILINE) + if pointer_match is None: + raise PointerError("task pointer is missing context_id") + if lock_path is not None and lock_path.exists(): + try: + lock = json.loads(lock_path.read_text(encoding="utf-8")) + except (OSError, UnicodeError, json.JSONDecodeError) as exc: + raise PointerError(f"cannot read context lock: {exc}") from exc + lock_id = lock.get("context_id") if isinstance(lock, dict) else None + if not lock_id: + raise PointerError("context lock is missing context_id") + if pointer_match.group(1) != str(lock_id): + raise PointerError( + f"task pointer context_id does not match lock ({pointer_match.group(1)}!={lock_id})" + ) + return {"bytes": size, "lines": lines, "max_bytes": max_bytes, "max_lines": max_lines} + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("path", nargs="?", type=Path, default=Path("nextTask.md")) + parser.add_argument("--max-bytes", type=int, default=MAX_POINTER_BYTES) + parser.add_argument("--max-lines", type=int, default=MAX_POINTER_LINES) + parser.add_argument("--lock", type=Path, default=Path("context-lock.json")) + args = parser.parse_args() + try: + result = validate_pointer( + args.path, + max_bytes=args.max_bytes, + max_lines=args.max_lines, + lock_path=args.lock, + ) + except (OSError, UnicodeError, PointerError) as exc: + parser.error(str(exc)) + print(f"task_pointer=valid bytes={result['bytes']} lines={result['lines']}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/wasm-core/CMakeLists.txt b/wasm-core/CMakeLists.txt index 0012865..180b956 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) +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) target_include_directories(sim_core PUBLIC include) target_compile_definitions(sim_core PRIVATE SIM_API_BUILD=1) @@ -22,7 +22,9 @@ target_include_directories(sim_posemath PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/libnml/posemath ) target_compile_definitions(sim_posemath PRIVATE ULAPI) +target_compile_options(sim_posemath PRIVATE -ffp-contract=off -fno-fast-math) target_link_libraries(sim_core PUBLIC sim_posemath) +target_compile_options(sim_core PRIVATE -ffp-contract=off -fno-fast-math) if(NOT EMSCRIPTEN) add_executable(sim_api_test tests/sim_api_test.c) @@ -42,29 +44,59 @@ if(NOT EMSCRIPTEN) target_include_directories(sim_event_test PRIVATE include) add_test(NAME sim_event_test COMMAND sim_event_test) - add_executable(sim_hal_test tests/sim_hal_test.c) + add_executable(sim_hal_test tests/sim_hal_test.c tests/sim_hal_test_main.c) target_link_libraries(sim_hal_test PRIVATE sim_core) target_include_directories(sim_hal_test PRIVATE include) + target_compile_options(sim_hal_test PRIVATE -UNDEBUG) add_test(NAME sim_hal_test COMMAND sim_hal_test) add_executable(sim_posemath_test tests/sim_posemath_test.c) target_link_libraries(sim_posemath_test PRIVATE sim_core) target_include_directories(sim_posemath_test PRIVATE include) add_test(NAME sim_posemath_test COMMAND sim_posemath_test) + + add_executable(sim_interpreter_test tests/sim_interpreter_test.c) + target_link_libraries(sim_interpreter_test PRIVATE sim_core) + target_include_directories(sim_interpreter_test PRIVATE include) + add_test(NAME sim_interpreter_test COMMAND sim_interpreter_test) + + add_executable(sim_motion_queue_test tests/sim_motion_queue_test.c) + target_link_libraries(sim_motion_queue_test PRIVATE sim_core) + target_include_directories(sim_motion_queue_test PRIVATE include) + add_test(NAME sim_motion_queue_test COMMAND sim_motion_queue_test) + + add_executable(sim_kinematics_test tests/sim_kinematics_test.c tests/sim_kinematics_test_main.c) + target_link_libraries(sim_kinematics_test PRIVATE sim_core) + 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) endif() if(EMSCRIPTEN) - 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) + add_executable(sim_hal_wasm_test tests/sim_hal_test.c tests/sim_hal_test_main.c) + target_link_libraries(sim_hal_wasm_test PRIVATE sim_core) + target_include_directories(sim_hal_wasm_test PRIVATE include) + target_compile_options(sim_hal_wasm_test PRIVATE -UNDEBUG) + target_link_options(sim_hal_wasm_test PRIVATE -sSINGLE_FILE=1) + + add_executable(sim_kinematics_wasm_test tests/sim_kinematics_test.c tests/sim_kinematics_test_main.c) + target_link_libraries(sim_kinematics_wasm_test PRIVATE sim_core) + target_include_directories(sim_kinematics_wasm_test PRIVATE include) + 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) target_include_directories(sim_core_module PRIVATE include ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/rtapi ${CMAKE_CURRENT_SOURCE_DIR}/../linuxcnc/src/libnml/posemath ) + target_compile_options(sim_core_module PRIVATE -ffp-contract=off -fno-fast-math) target_link_libraries(sim_core_module PRIVATE sim_posemath) 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'] -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'] -sEXPORTED_RUNTIME_METHODS=['ccall','cwrap']" ) endif() diff --git a/wasm-core/include/sim_hal.h b/wasm-core/include/sim_hal.h index efbb9cb..92412d4 100644 --- a/wasm-core/include/sim_hal.h +++ b/wasm-core/include/sim_hal.h @@ -49,6 +49,10 @@ int32_t sim_hal_get_pin(const char *name, sim_hal_value *out); int32_t sim_hal_connect(const char *source, const char *target); int32_t sim_hal_register_thread(const char *name, uint32_t period_ticks); int32_t sim_hal_register_function(const char *thread, const char *name); +/* Register the static LinuxCNC corexy_by_hal component and its servo pins. */ +int32_t sim_hal_register_corexy_by_hal(const char *component, const char *thread); +/* Execute one deterministic CoreXY command/feedback transform immediately. */ +int32_t sim_hal_corexy_transform(const char *component); int32_t sim_hal_set_function_failure(const char *name, uint32_t fail); int32_t sim_hal_step(uint32_t ticks); uint32_t sim_hal_tick(void); diff --git a/wasm-core/include/sim_interpreter.h b/wasm-core/include/sim_interpreter.h new file mode 100644 index 0000000..a2d7174 --- /dev/null +++ b/wasm-core/include/sim_interpreter.h @@ -0,0 +1,74 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_INTERPRETER_H +#define LINUXCNC_WEB_WASM_SIM_INTERPRETER_H + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +enum sim_interpreter_result { + SIM_INTERP_OK = 0, + SIM_INTERP_ERR_ARGUMENT = -500, + SIM_INTERP_ERR_NONFINITE = -501, + SIM_INTERP_ERR_SYNTAX = -502, + SIM_INTERP_ERR_RANGE = -503, + SIM_INTERP_ERR_UNKNOWN_CODE = -504, + SIM_INTERP_ERR_STATE = -505, + SIM_INTERP_ERR_BUFFER = -506, +}; + +enum sim_interpreter_units { + SIM_INTERP_UNITS_INCH = 20, + SIM_INTERP_UNITS_MM = 21, +}; + +enum sim_interpreter_distance_mode { + SIM_INTERP_ABSOLUTE = 90, + SIM_INTERP_INCREMENTAL = 91, +}; + +typedef struct sim_interpreter_state { + double x; + double y; + double z; + double a; + double b; + double c; + double u; + double v; + double w; + double feed; + double speed; + uint32_t line; + int units; + int distance_mode; + int plane; + int motion_mode; + int spindle_mode; + int program_end; + int status; +} sim_interpreter_state; + +#define SIM_INTERPRETER_CANONICAL_CAPACITY 512u + +typedef struct sim_interpreter { + sim_interpreter_state state; + uint64_t block_hash; + uint32_t canonical_length; + char canonical[SIM_INTERPRETER_CANONICAL_CAPACITY]; +} sim_interpreter; + +int sim_interpreter_init(sim_interpreter *interpreter); +int sim_interpreter_reset(sim_interpreter *interpreter); +int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uint32_t length); +int sim_interpreter_read_state(const sim_interpreter *interpreter, sim_interpreter_state *state); +uint32_t sim_interpreter_canonical(const sim_interpreter *interpreter, char *output, uint32_t capacity); +uint64_t sim_interpreter_state_hash(const sim_interpreter *interpreter); +uint64_t sim_interpreter_block_hash(const sim_interpreter *interpreter); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/include/sim_kinematics.h b/wasm-core/include/sim_kinematics.h new file mode 100644 index 0000000..228a31f --- /dev/null +++ b/wasm-core/include/sim_kinematics.h @@ -0,0 +1,174 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_H +#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_H + +#include "sim_posemath.h" + +#ifdef __cplusplus +extern "C" { +#endif + +enum sim_kinematics_result { + SIM_KIN_OK = 0, + SIM_KIN_ERR_ARGUMENT = -700, + SIM_KIN_ERR_NONFINITE = -701, + SIM_KIN_ERR_RANGE = -702, + SIM_KIN_ERR_CONFIGURATION = -703, + SIM_KIN_ERR_SINGULAR = -704, + SIM_KIN_ERR_UNKNOWN_TYPE = -705, + SIM_KIN_ERR_UNSUPPORTED = -706, +}; + +enum sim_kinematics_type { + SIM_KIN_TRIVKINS = 1, + SIM_KIN_XYZAC_TRT = 2, + SIM_KIN_XYZBC_TRT = 3, + SIM_KIN_XYZBCW = 4, + SIM_KIN_COREXY = 5, + SIM_KIN_ROSE = 6, + SIM_KIN_MAXKINS = 7, + SIM_KIN_ROTATEKINS = 8, + SIM_KIN_5AXISKINS = 9, + SIM_KIN_SCARA = 10, + SIM_KIN_PUMA = 11, + SIM_KIN_SCORBOT = 12, + SIM_KIN_GENSER = 13, + SIM_KIN_LINEAR_DELTA = 14, + SIM_KIN_ROTARY_DELTA = 15, + SIM_KIN_TRIPOD = 16, + SIM_KIN_GENHEX = 17, + SIM_KIN_PENTAPOD = 18, +}; + +/* LinuxCNC kinematics mode semantics. Zero means the module default. */ +enum sim_kinematics_mode { + SIM_KIN_MODE_DEFAULT = 0, + SIM_KIN_MODE_IDENTITY = 1, + SIM_KIN_MODE_FORWARD_ONLY = 2, + SIM_KIN_MODE_INVERSE_ONLY = 3, + SIM_KIN_MODE_BOTH = 4, +}; + +/* Delta mechanisms expose the two analytic roots through the flags fields. + * The default (zero) is LinuxCNC's lower/platform root; bit zero selects the + * alternate root for callers that need an explicit branch comparison. */ +#define SIM_KIN_DELTA_ALTERNATE_ROOT UINT64_C(1) +/* Tripod forward flags select the below-base solution when set. */ +#define SIM_KIN_TRIPOD_BELOW_ROOT UINT64_C(1) +/* Genhex forward flags select the alternate (below-platform) initial seed. */ +#define SIM_KIN_GENHEX_ALTERNATE_SEED UINT64_C(2) + +#define SIM_KIN_MAX_JOINTS 9u +#define SIM_KIN_GENHEX_STRUTS 6u +#define SIM_KIN_PENTA_STRUTS 5u + +typedef struct sim_kinematics_config { + int type; + int mode; + uint32_t joint_count; + /* Total configured joints and the prefix owned by kinematics. */ + uint32_t kinematics_joint_count; + uint32_t extra_joint_count; + char coordinates[16]; + double x_rot_point; + double y_rot_point; + double z_rot_point; + double x_offset; + double y_offset; + double z_offset; + double tool_offset; + double pivot_length; + double scara_d1; + double scara_d2; + double scara_d3; + double scara_d4; + double scara_d5; + double scara_d6; + double puma_a2; + double puma_a3; + double puma_d3; + double puma_d4; + double puma_d6; + uint32_t dh_joint_count; + double dh_a[SIM_KIN_MAX_JOINTS]; + double dh_alpha[SIM_KIN_MAX_JOINTS]; + double dh_d[SIM_KIN_MAX_JOINTS]; + double delta_radius; + double delta_rod_length; + double rotary_platform_radius; + double rotary_thigh_length; + double rotary_shin_length; + double rotary_foot_radius; + double tripod_bx; + double tripod_cx; + double tripod_cy; + double genhex_base[SIM_KIN_GENHEX_STRUTS][3]; + double genhex_platform[SIM_KIN_GENHEX_STRUTS][3]; + double genhex_base_axis[SIM_KIN_GENHEX_STRUTS][3]; + double genhex_platform_axis[SIM_KIN_GENHEX_STRUTS][3]; + double genhex_screw_lead; + double genhex_tool_offset; + double genhex_spindle_offset; + double genhex_max_error; + double genhex_convergence_tolerance; + uint32_t genhex_iteration_limit; + double genhex_initial_pose[6]; + double penta_base[SIM_KIN_PENTA_STRUTS][3]; + double penta_effector_radius[SIM_KIN_PENTA_STRUTS]; + double penta_effector_z[SIM_KIN_PENTA_STRUTS]; + double penta_tool_offset; + double penta_max_error; + double penta_convergence_tolerance; + uint32_t penta_iteration_limit; + double penta_initial_pose[5]; + uint32_t max_iterations; + double convergence_tolerance; + uint8_t limit_enabled[SIM_KIN_MAX_JOINTS]; + double joint_min[SIM_KIN_MAX_JOINTS]; + double joint_max[SIM_KIN_MAX_JOINTS]; +} sim_kinematics_config; + +typedef struct sim_kinematics { + sim_kinematics_config config; + int axis_joint[SIM_KIN_MAX_JOINTS]; + uint32_t configured; + uint64_t forward_flags; + uint64_t inverse_flags; + sim_posemath_pose last_pose; + double last_residual; + uint32_t last_iterations; + uint32_t branch_id; + int32_t revolution_count; + uint32_t previous_quadrant; +} sim_kinematics; + +typedef struct sim_kinematics_result_info { + uint64_t forward_flags; + uint64_t inverse_flags; + double residual; + uint32_t iterations; + uint32_t branch_id; +} sim_kinematics_result_info; + +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); +int sim_kinematics_forward_ex(const sim_kinematics *kinematics, const double *joints, + uint32_t joint_count, uint64_t inverse_flags, + sim_posemath_pose *pose, sim_kinematics_result_info *info); +int sim_kinematics_inverse(sim_kinematics *kinematics, const sim_posemath_pose *pose, + double *joints, uint32_t joint_count); +int sim_kinematics_inverse_ex(sim_kinematics *kinematics, const sim_posemath_pose *pose, + uint32_t joint_count, uint64_t forward_flags, + double *joints, sim_kinematics_result_info *info); +int sim_kinematics_home(const sim_kinematics *kinematics, double *joints, uint32_t joint_count, + sim_posemath_pose *pose); +int sim_kinematics_validate_pose(const sim_posemath_pose *pose); +uint64_t sim_kinematics_state_hash(const sim_kinematics *kinematics, + const double *joints, uint32_t joint_count, + const sim_posemath_pose *pose); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/include/sim_motion_queue.h b/wasm-core/include/sim_motion_queue.h new file mode 100644 index 0000000..154dfef --- /dev/null +++ b/wasm-core/include/sim_motion_queue.h @@ -0,0 +1,66 @@ +#ifndef LINUXCNC_WEB_WASM_SIM_MOTION_QUEUE_H +#define LINUXCNC_WEB_WASM_SIM_MOTION_QUEUE_H + +#include "sim_posemath.h" + +#ifdef __cplusplus +extern "C" { +#endif + +enum sim_motion_result { + SIM_MOTION_OK = 0, + SIM_MOTION_ERR_ARGUMENT = -600, + SIM_MOTION_ERR_NONFINITE = -601, + SIM_MOTION_ERR_RANGE = -602, + SIM_MOTION_ERR_GEOMETRY = -603, + SIM_MOTION_ERR_MOTION_TYPE = -604, + SIM_MOTION_ERR_STATE = -605, + SIM_MOTION_ERR_CAPACITY = -606, + SIM_MOTION_ERR_BUFFER = -607, +}; + +#define SIM_MOTION_QUEUE_CAPACITY 64u + +typedef struct sim_motion_command { + sim_posemath_segment segment; + uint32_t id; + uint32_t tag; +} sim_motion_command; + +typedef struct sim_motion_state { + sim_posemath_pose position; + double velocity; + double progress; + uint32_t tick; + uint32_t queue_depth; + uint32_t active_id; + uint32_t active_tag; + int motion_type; + int status; +} sim_motion_state; + +typedef struct sim_motion_queue { + sim_motion_command commands[SIM_MOTION_QUEUE_CAPACITY]; + uint32_t head; + uint32_t count; + uint32_t next_id; + uint32_t tick; + double cycle_time; + double velocity_limit; + sim_motion_state state; +} sim_motion_queue; + +int sim_motion_init(sim_motion_queue *queue, double cycle_time, double velocity_limit); +int sim_motion_reset(sim_motion_queue *queue); +int sim_motion_enqueue(sim_motion_queue *queue, const sim_motion_command *command, uint32_t *id_out); +int sim_motion_step(sim_motion_queue *queue); +int sim_motion_read_state(const sim_motion_queue *queue, sim_motion_state *state); +uint32_t sim_motion_queue_depth(const sim_motion_queue *queue); +uint64_t sim_motion_state_hash(const sim_motion_queue *queue); +uint32_t sim_motion_canonical(const sim_motion_queue *queue, char *output, uint32_t capacity); + +#ifdef __cplusplus +} +#endif + +#endif diff --git a/wasm-core/include/sim_posemath.h b/wasm-core/include/sim_posemath.h index 7a7dcad..811ff96 100644 --- a/wasm-core/include/sim_posemath.h +++ b/wasm-core/include/sim_posemath.h @@ -5,12 +5,25 @@ extern "C" { #endif +#include + enum sim_posemath_result { SIM_POSEMATH_OK = 0, SIM_POSEMATH_ERR_ARGUMENT = -400, SIM_POSEMATH_ERR_NONFINITE = -401, SIM_POSEMATH_ERR_DEGENERATE = -402, SIM_POSEMATH_ERR_RANGE = -403, + SIM_POSEMATH_ERR_MOTION_TYPE = -404, + SIM_POSEMATH_ERR_STATE = -405, + SIM_POSEMATH_ERR_CAPACITY = -406, +}; + +/* Values match LinuxCNC's tc_motion_type_t. */ +enum sim_posemath_motion_type { + SIM_POSEMATH_LINEAR = 1, + SIM_POSEMATH_CIRCULAR = 2, + SIM_POSEMATH_RIGID_TAP = 3, + SIM_POSEMATH_SPHERICAL = 4, }; typedef struct sim_posemath_cartesian { @@ -19,11 +32,77 @@ typedef struct sim_posemath_cartesian { double z; } sim_posemath_cartesian; +typedef struct sim_posemath_pose { + sim_posemath_cartesian tran; + double a; + double b; + double c; + double u; + double v; + double w; +} sim_posemath_pose; + +typedef struct sim_posemath_segment { + sim_posemath_pose start; + sim_posemath_pose end; + sim_posemath_cartesian center; + sim_posemath_cartesian normal; + double velocity; + double acceleration; + int motion_type; + int turn; +} sim_posemath_segment; + +typedef struct sim_tp_state { + sim_posemath_pose position; + double velocity; + double progress; + uint32_t tick; + uint32_t queue_depth; + uint32_t active_id; + int motion_type; + int status; +} sim_tp_state; + +#define SIM_TP_QUEUE_CAPACITY 32u + +typedef struct sim_tp { + sim_posemath_segment queue[SIM_TP_QUEUE_CAPACITY]; + uint32_t ids[SIM_TP_QUEUE_CAPACITY]; + uint32_t head; + uint32_t count; + uint32_t next_id; + uint32_t active_id; + uint32_t tick; + double cycle_time; + double velocity_limit; + double acceleration_limit; + double progress; + double current_velocity; + sim_posemath_pose position; + int motion_type; + int status; +} sim_tp; + int sim_posemath_normalize(const sim_posemath_cartesian *input, sim_posemath_cartesian *output); int sim_posemath_dot(const sim_posemath_cartesian *left, const sim_posemath_cartesian *right, double *output); int sim_posemath_line_point(const sim_posemath_cartesian *start, const sim_posemath_cartesian *end, double fraction, sim_posemath_cartesian *output); int sim_posemath_is_finite(const sim_posemath_cartesian *value); +int sim_posemath_pose_is_finite(const sim_posemath_pose *value); +int sim_posemath_pose_line_point(const sim_posemath_pose *start, const sim_posemath_pose *end, + double fraction, sim_posemath_pose *output); +int sim_posemath_segment_validate(const sim_posemath_segment *segment); +int sim_posemath_segment_point(const sim_posemath_segment *segment, double fraction, + sim_posemath_pose *output); +uint64_t sim_posemath_hash_state(const sim_tp_state *state); + +int sim_tp_init(sim_tp *tp, double cycle_time, double velocity_limit, double acceleration_limit); +int sim_tp_reset(sim_tp *tp); +int sim_tp_enqueue(sim_tp *tp, const sim_posemath_segment *segment, uint32_t *id_out); +int sim_tp_step(sim_tp *tp); +int sim_tp_read_state(const sim_tp *tp, sim_tp_state *state); +uint64_t sim_tp_state_hash(const sim_tp *tp); #ifdef __cplusplus } diff --git a/wasm-core/src/sim_hal.c b/wasm-core/src/sim_hal.c index d2999df..fa22d69 100644 --- a/wasm-core/src/sim_hal.c +++ b/wasm-core/src/sim_hal.c @@ -21,8 +21,11 @@ typedef struct { uint32_t thread; uint32_t calls; uint32_t fail; + uint32_t transform_kind; } function_entry; +enum { SIM_HAL_TRANSFORM_NONE = 0, SIM_HAL_TRANSFORM_COREXY = 1 }; + typedef struct { uint32_t tick; pin_entry pins[SIM_HAL_PIN_CAPACITY]; @@ -136,6 +139,73 @@ int32_t sim_hal_register_function(const char *thread, const char *name) { return SIM_HAL_ERR_FULL; } +static int32_t corexy_pin_names(const char *component, char names[8][SIM_HAL_NAME_CAPACITY]) { + static const char *suffixes[8] = { + ".j0-motor-pos-cmd", ".j1-motor-pos-cmd", ".alpha-cmd", ".beta-cmd", + ".alpha-fb", ".beta-fb", ".j0-motor-pos-fb", ".j1-motor-pos-fb", + }; + uint32_t index; + if (!valid_name(component)) return SIM_HAL_ERR_ARGUMENT; + for (index = 0; index < 8; ++index) { + size_t prefix = strlen(component); + size_t suffix = strlen(suffixes[index]); + if (prefix + suffix >= SIM_HAL_NAME_CAPACITY) return SIM_HAL_ERR_RANGE; + memcpy(names[index], component, prefix); + memcpy(names[index] + prefix, suffixes[index], suffix + 1); + } + return SIM_HAL_OK; +} + +int32_t sim_hal_register_corexy_by_hal(const char *component, const char *thread) { + char names[8][SIM_HAL_NAME_CAPACITY]; + uint32_t index; + int32_t result; + if (component == NULL || thread == NULL) return SIM_HAL_ERR_ARGUMENT; + result = corexy_pin_names(component, names); + if (result != SIM_HAL_OK) return result; + for (index = 0; index < 8; ++index) { + if (find_pin(names[index]) >= 0) return SIM_HAL_ERR_DUPLICATE; + } + if (find_function(component) >= 0) return SIM_HAL_ERR_DUPLICATE; + for (index = 0; index < 8; ++index) { + result = sim_hal_register_pin(names[index], SIM_HAL_FLOAT); + if (result != SIM_HAL_OK) return result; + } + result = sim_hal_register_function(thread, component); + if (result != SIM_HAL_OK) return result; + state.functions[find_function(component)].transform_kind = SIM_HAL_TRANSFORM_COREXY; + return SIM_HAL_OK; +} + +static int32_t float_pin(const char *name, float *value) { + sim_hal_value pin = {0}; + int32_t result = sim_hal_get_pin(name, &pin); + if (result != SIM_HAL_OK) return result; + if (pin.type != SIM_HAL_FLOAT) return SIM_HAL_ERR_TYPE; + *value = pin.value.real; + return SIM_HAL_OK; +} + +static int32_t set_float_pin(const char *name, float value) { + sim_hal_value pin = {SIM_HAL_FLOAT, {.real = value}}; + return sim_hal_set_pin(name, pin); +} + +int32_t sim_hal_corexy_transform(const char *component) { + char names[8][SIM_HAL_NAME_CAPACITY]; + float j0_cmd, j1_cmd, alpha_fb, beta_fb; + int32_t result = corexy_pin_names(component, names); + if (result != SIM_HAL_OK) return result; + result = float_pin(names[0], &j0_cmd); if (result != SIM_HAL_OK) return result; + result = float_pin(names[1], &j1_cmd); if (result != SIM_HAL_OK) return result; + result = float_pin(names[4], &alpha_fb); if (result != SIM_HAL_OK) return result; + result = float_pin(names[5], &beta_fb); if (result != SIM_HAL_OK) return result; + result = set_float_pin(names[2], 0.5f * (j0_cmd + j1_cmd)); if (result != SIM_HAL_OK) return result; + result = set_float_pin(names[3], 0.5f * (j0_cmd - j1_cmd)); if (result != SIM_HAL_OK) return result; + result = set_float_pin(names[6], alpha_fb + beta_fb); if (result != SIM_HAL_OK) return result; + return set_float_pin(names[7], alpha_fb - beta_fb); +} + int32_t sim_hal_set_function_failure(const char *name, uint32_t fail) { int index = find_function(name); if (index < 0) return SIM_HAL_ERR_NOT_FOUND; @@ -152,6 +222,10 @@ int32_t sim_hal_step(uint32_t ticks) { function_entry *function = &state.functions[function_index]; if (!function->used || tick % state.threads[function->thread].period != 0U) continue; if (function->fail) return SIM_HAL_ERR_FUNCTION; + if (function->transform_kind == SIM_HAL_TRANSFORM_COREXY) { + int32_t result = sim_hal_corexy_transform(function->name); + if (result != SIM_HAL_OK) return SIM_HAL_ERR_FUNCTION; + } function->calls += 1U; } } diff --git a/wasm-core/src/sim_interpreter.c b/wasm-core/src/sim_interpreter.c new file mode 100644 index 0000000..afe2cb7 --- /dev/null +++ b/wasm-core/src/sim_interpreter.c @@ -0,0 +1,257 @@ +#include "sim_interpreter.h" + +#include +#include +#include +#include +#include + +static uint64_t fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= (uint64_t)bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +static int finite_state(const sim_interpreter_state *state) { + const double *values; + size_t index; + if (state == 0) return 0; + values = &state->x; + for (index = 0; index < 11; ++index) if (!isfinite(values[index])) return 0; + return 1; +} + +static int parse_number(const char **cursor, const char *end, double *output) { + const char *start = *cursor; + int sign = 1; + int digits = 0; + int exponent_sign = 1; + int exponent = 0; + long double value = 0.0L; + long double scale = 1.0L; + if (*cursor < end && (**cursor == '+' || **cursor == '-')) { + if (**cursor == '-') sign = -1; + ++*cursor; + } + while (*cursor < end && isdigit((unsigned char)**cursor)) { + value = value * 10.0L + (long double)(**cursor - '0'); + ++*cursor; + digits = 1; + } + if (*cursor < end && **cursor == '.') { + ++*cursor; + while (*cursor < end && isdigit((unsigned char)**cursor)) { + value = value * 10.0L + (long double)(**cursor - '0'); + scale *= 10.0L; + ++*cursor; + digits = 1; + } + } + if (!digits) { *cursor = start; return SIM_INTERP_ERR_SYNTAX; } + if (*cursor < end && (**cursor == 'e' || **cursor == 'E')) { + ++*cursor; + if (*cursor < end && (**cursor == '+' || **cursor == '-')) { + if (**cursor == '-') exponent_sign = -1; + ++*cursor; + } + if (*cursor == end || !isdigit((unsigned char)**cursor)) { *cursor = start; return SIM_INTERP_ERR_SYNTAX; } + while (*cursor < end && isdigit((unsigned char)**cursor)) { + if (exponent < 10000) exponent = exponent * 10 + (**cursor - '0'); + ++*cursor; + } + } + value = (long double)sign * value / scale; + if (exponent) value *= powl(10.0L, (long double)(exponent_sign * exponent)); + *output = (double)value; + return isfinite(*output) ? SIM_INTERP_OK : SIM_INTERP_ERR_NONFINITE; +} + +static int code_is(double value, int integer_code) { + return isfinite(value) && fabs(value - (double)integer_code) <= 1e-12; +} + +static int axis_index(char letter) { + switch (letter) { + case 'X': return 0; case 'Y': return 1; case 'Z': return 2; + case 'A': return 3; case 'B': return 4; case 'C': return 5; + case 'U': return 6; case 'V': return 7; case 'W': return 8; + default: return -1; + } +} + +static double *axis_pointer(sim_interpreter_state *state, int index) { + return &state->x + index; +} + +static int apply_g(sim_interpreter_state *state, double code, int *groups) { + if (code_is(code, 0)) { if (++groups[0] > 1) return SIM_INTERP_ERR_STATE; state->motion_mode = 0; return SIM_INTERP_OK; } + if (code_is(code, 1)) { if (++groups[0] > 1) return SIM_INTERP_ERR_STATE; state->motion_mode = 1; return SIM_INTERP_OK; } + if (code_is(code, 2) || code_is(code, 3)) { if (++groups[0] > 1) return SIM_INTERP_ERR_STATE; state->motion_mode = (int)code; return SIM_INTERP_OK; } + if (code_is(code, 17) || code_is(code, 18) || code_is(code, 19)) { if (++groups[1] > 1) return SIM_INTERP_ERR_STATE; state->plane = (int)code; return SIM_INTERP_OK; } + if (code_is(code, 20) || code_is(code, 21)) { if (++groups[2] > 1) return SIM_INTERP_ERR_STATE; state->units = (int)code; return SIM_INTERP_OK; } + if (code_is(code, 90) || code_is(code, 91)) { if (++groups[3] > 1) return SIM_INTERP_ERR_STATE; state->distance_mode = (int)code; return SIM_INTERP_OK; } + return SIM_INTERP_ERR_UNKNOWN_CODE; +} + +static int apply_m(sim_interpreter_state *state, double code, int *groups) { + if (code_is(code, 3) || code_is(code, 4) || code_is(code, 5)) { + if (++groups[4] > 1) return SIM_INTERP_ERR_STATE; + state->spindle_mode = (int)code; + return SIM_INTERP_OK; + } + if (code_is(code, 2) || code_is(code, 30)) { + if (++groups[5] > 1) return SIM_INTERP_ERR_STATE; + state->program_end = 1; + return SIM_INTERP_OK; + } + return SIM_INTERP_ERR_UNKNOWN_CODE; +} + +static uint64_t state_hash(const sim_interpreter_state *state) { + unsigned char bytes[sizeof(double) * 11 + sizeof(uint32_t) + sizeof(int) * 7]; + size_t offset = 0; + const double *values = &state->x; + size_t index; + for (index = 0; index < 11; ++index) { memcpy(bytes + offset, values + index, sizeof(double)); offset += sizeof(double); } + memcpy(bytes + offset, &state->line, sizeof(uint32_t)); offset += sizeof(uint32_t); + memcpy(bytes + offset, &state->units, sizeof(int)); offset += sizeof(int); + memcpy(bytes + offset, &state->distance_mode, sizeof(int)); offset += sizeof(int); + memcpy(bytes + offset, &state->plane, sizeof(int)); offset += sizeof(int); + memcpy(bytes + offset, &state->motion_mode, sizeof(int)); offset += sizeof(int); + memcpy(bytes + offset, &state->spindle_mode, sizeof(int)); offset += sizeof(int); + memcpy(bytes + offset, &state->program_end, sizeof(int)); offset += sizeof(int); + memcpy(bytes + offset, &state->status, sizeof(int)); offset += sizeof(int); + return fnv1a64(bytes, offset); +} + +static int make_canonical(sim_interpreter *interpreter) { + int written; + const sim_interpreter_state *s = &interpreter->state; + written = snprintf(interpreter->canonical, sizeof(interpreter->canonical), + "{\"a\":%.17g,\"b\":%.17g,\"c\":%.17g,\"distance_mode\":%d,\"feed\":%.17g,\"line\":%u,\"motion_mode\":%d,\"plane\":%d,\"program_end\":%d,\"speed\":%.17g,\"spindle_mode\":%d,\"status\":%d,\"units\":%d,\"u\":%.17g,\"v\":%.17g,\"w\":%.17g,\"x\":%.17g,\"y\":%.17g,\"z\":%.17g}", + s->a, s->b, s->c, s->distance_mode, s->feed, s->line, s->motion_mode, s->plane, s->program_end, + s->speed, s->spindle_mode, s->status, s->units, s->u, s->v, s->w, s->x, s->y, s->z); + if (written < 0 || (size_t)written >= sizeof(interpreter->canonical)) return SIM_INTERP_ERR_BUFFER; + interpreter->canonical_length = (uint32_t)written; + return SIM_INTERP_OK; +} + +int sim_interpreter_reset(sim_interpreter *interpreter) { + if (interpreter == 0) return SIM_INTERP_ERR_ARGUMENT; + memset(interpreter, 0, sizeof(*interpreter)); + interpreter->state.units = SIM_INTERP_UNITS_MM; + interpreter->state.distance_mode = SIM_INTERP_ABSOLUTE; + interpreter->state.plane = 17; + interpreter->state.motion_mode = 1; + interpreter->state.spindle_mode = 5; + interpreter->state.status = SIM_INTERP_OK; + return make_canonical(interpreter); +} + +int sim_interpreter_init(sim_interpreter *interpreter) { + return sim_interpreter_reset(interpreter); +} + +int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uint32_t length) { + sim_interpreter_state next; + const char *cursor; + const char *end; + int groups[6] = {0}; + int seen_axis[9] = {0}; + double axis_values[9] = {0}; + int seen_feed = 0; + int seen_speed = 0; + double feed_value = 0.0; + double speed_value = 0.0; + int seen_line = 0; + int result = SIM_INTERP_OK; + if (interpreter == 0 || block == 0 || length == 0) return SIM_INTERP_ERR_ARGUMENT; + if (!finite_state(&interpreter->state)) return SIM_INTERP_ERR_STATE; + if (interpreter->state.program_end) return SIM_INTERP_ERR_STATE; + next = interpreter->state; + cursor = block; + end = block + length; + while (cursor < end) { + char letter; + double value; + int index; + while (cursor < end && isspace((unsigned char)*cursor)) ++cursor; + if (cursor >= end) break; + if (*cursor == ';') break; + if (*cursor == '(') { + int closed = 0; + ++cursor; + while (cursor < end) { if (*cursor++ == ')') { closed = 1; break; } } + if (!closed) return SIM_INTERP_ERR_SYNTAX; + continue; + } + letter = (char)toupper((unsigned char)*cursor++); + if (letter == '%') continue; + if (letter < 'A' || letter > 'Z') return SIM_INTERP_ERR_SYNTAX; + result = parse_number(&cursor, end, &value); + if (result != SIM_INTERP_OK) return result; + switch (letter) { + case 'G': result = apply_g(&next, value, groups); break; + case 'M': result = apply_m(&next, value, groups); break; + case 'N': if (seen_line++) result = SIM_INTERP_ERR_STATE; else if (value < 0.0 || value > 4294967295.0 || floor(value) != value) result = SIM_INTERP_ERR_RANGE; else next.line = (uint32_t)value; break; + case 'F': if (seen_feed++) result = SIM_INTERP_ERR_STATE; else if (value < 0.0) result = SIM_INTERP_ERR_RANGE; else feed_value = value; break; + case 'S': if (seen_speed++) result = SIM_INTERP_ERR_STATE; else if (value < 0.0) result = SIM_INTERP_ERR_RANGE; else speed_value = value; break; + default: + index = axis_index(letter); + if (index < 0) result = SIM_INTERP_ERR_UNKNOWN_CODE; + else if (seen_axis[index]++) result = SIM_INTERP_ERR_STATE; + else if (!isfinite(value)) result = SIM_INTERP_ERR_NONFINITE; + if (result == SIM_INTERP_OK) axis_values[index] = value; + break; + } + if (result != SIM_INTERP_OK) return result; + } + /* Modal words apply to the whole block, independent of their textual order. */ + if (seen_feed) next.feed = feed_value * (next.units == SIM_INTERP_UNITS_INCH ? 25.4 : 1.0); + if (seen_speed) next.speed = speed_value; + { + size_t axis; + for (axis = 0; axis < 9; ++axis) if (seen_axis[axis]) { + double value = axis_values[axis]; + double *destination = axis_pointer(&next, (int)axis); + if (next.units == SIM_INTERP_UNITS_INCH && axis < 3) value *= 25.4; + if (next.distance_mode == SIM_INTERP_INCREMENTAL) *destination += value; + else *destination = value; + } + } + if (!finite_state(&next)) return SIM_INTERP_ERR_NONFINITE; + next.line = interpreter->state.line + 1; + next.status = SIM_INTERP_OK; + interpreter->state = next; + interpreter->block_hash = fnv1a64((const unsigned char *)block, length); + result = make_canonical(interpreter); + if (result != SIM_INTERP_OK) { interpreter->state.status = result; return result; } + return SIM_INTERP_OK; +} + +int sim_interpreter_read_state(const sim_interpreter *interpreter, sim_interpreter_state *state) { + if (interpreter == 0 || state == 0) return SIM_INTERP_ERR_ARGUMENT; + *state = interpreter->state; + return SIM_INTERP_OK; +} + +uint32_t sim_interpreter_canonical(const sim_interpreter *interpreter, char *output, uint32_t capacity) { + if (interpreter == 0) return 0; + if (output == 0 || capacity == 0) return interpreter->canonical_length + 1; + if (capacity <= interpreter->canonical_length) return interpreter->canonical_length + 1; + memcpy(output, interpreter->canonical, interpreter->canonical_length + 1); + return interpreter->canonical_length + 1; +} + +uint64_t sim_interpreter_state_hash(const sim_interpreter *interpreter) { + if (interpreter == 0) return 0; + return state_hash(&interpreter->state); +} + +uint64_t sim_interpreter_block_hash(const sim_interpreter *interpreter) { + return interpreter == 0 ? 0 : interpreter->block_hash; +} diff --git a/wasm-core/src/sim_kinematics.c b/wasm-core/src/sim_kinematics.c new file mode 100644 index 0000000..8a085cc --- /dev/null +++ b/wasm-core/src/sim_kinematics.c @@ -0,0 +1,1181 @@ +#include "sim_kinematics.h" + +#include +#include +#include +#include "posemath.h" + +#define DEG_TO_RAD 0.017453292519943295769236907684886 +#define RAD_TO_DEG 57.295779513082320876798154814105 + +static uint64_t 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 hash_normalize(double value) { + return isfinite(value) ? nearbyint(value * 1000000000.0) / 1000000000.0 : value; +} + +static int finite_values(const double *values, size_t count) { + size_t index; + if (values == 0) return 0; + for (index = 0; index < count; ++index) if (!isfinite(values[index])) return 0; + return 1; +} + +int sim_kinematics_validate_pose(const sim_posemath_pose *pose) { + return pose != 0 && finite_values(&pose->tran.x, 9) ? SIM_KIN_OK : SIM_KIN_ERR_NONFINITE; +} + +static int axis_index(char letter) { + switch (letter) { + case 'X': return 0; case 'Y': return 1; case 'Z': return 2; + case 'A': return 3; case 'B': return 4; case 'C': return 5; + case 'U': return 6; case 'V': return 7; case 'W': return 8; + default: return -1; + } +} + +static int has_coordinate(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; +} + +static int effective_mode(const sim_kinematics_config *config) { + if (config->mode != SIM_KIN_MODE_DEFAULT) return config->mode; + return config->type == SIM_KIN_TRIVKINS ? SIM_KIN_MODE_IDENTITY : SIM_KIN_MODE_BOTH; +} + +static uint32_t kinematics_joint_count(const sim_kinematics_config *config) { + return config->kinematics_joint_count == 0 ? config->joint_count : config->kinematics_joint_count; +} + +static int known_type(int type) { + switch (type) { + case SIM_KIN_TRIVKINS: + case SIM_KIN_XYZAC_TRT: + case SIM_KIN_XYZBC_TRT: + case SIM_KIN_XYZBCW: + case SIM_KIN_COREXY: + case SIM_KIN_ROSE: + case SIM_KIN_MAXKINS: + case SIM_KIN_ROTATEKINS: + case SIM_KIN_5AXISKINS: + case SIM_KIN_SCARA: + case SIM_KIN_PUMA: + case SIM_KIN_SCORBOT: + case SIM_KIN_GENSER: + case SIM_KIN_LINEAR_DELTA: + case SIM_KIN_ROTARY_DELTA: + case SIM_KIN_TRIPOD: + case SIM_KIN_GENHEX: + case SIM_KIN_PENTAPOD: + return 1; + default: + return 0; + } +} + +static void initialize_info(sim_kinematics_result_info *info, uint64_t forward_flags, uint64_t inverse_flags) { + if (info == 0) return; + info->forward_flags = forward_flags; + info->inverse_flags = inverse_flags; + info->residual = 0.0; + info->iterations = 0; + info->branch_id = 0; +} + +static int config_axis(const sim_kinematics *kinematics, int axis) { + return kinematics->axis_joint[axis]; +} + +static int valid_config(const sim_kinematics_config *config) { + const char *coordinates; + size_t length; + size_t index; + uint32_t kinematics_count; + if (config == 0 || config->joint_count < 1 || config->joint_count > SIM_KIN_MAX_JOINTS) return SIM_KIN_ERR_CONFIGURATION; + kinematics_count = kinematics_joint_count(config); + if (kinematics_count < 1 || kinematics_count > config->joint_count) return SIM_KIN_ERR_CONFIGURATION; + if (config->extra_joint_count != 0 && config->extra_joint_count != config->joint_count - kinematics_count) return SIM_KIN_ERR_CONFIGURATION; + if (!known_type(config->type)) return SIM_KIN_ERR_UNKNOWN_TYPE; + if (config->mode < SIM_KIN_MODE_DEFAULT || config->mode > SIM_KIN_MODE_BOTH) return SIM_KIN_ERR_CONFIGURATION; + if (!finite_values(&config->x_rot_point, 19) || !finite_values(&config->delta_radius, 9)) return SIM_KIN_ERR_NONFINITE; + if (config->max_iterations > 100000u) return SIM_KIN_ERR_CONFIGURATION; + if (config->convergence_tolerance < 0.0 || !isfinite(config->convergence_tolerance)) return SIM_KIN_ERR_CONFIGURATION; + coordinates = config->coordinates[0] == '\0' ? "XYZABCUVW" : config->coordinates; + length = strlen(coordinates); + if (length == 0 || length > SIM_KIN_MAX_JOINTS || length > kinematics_count) return SIM_KIN_ERR_CONFIGURATION; + for (index = 0; index < length; ++index) { + int axis = axis_index((char)(coordinates[index] >= 'a' && coordinates[index] <= 'z' ? coordinates[index] - 'a' + 'A' : coordinates[index])); + if (axis < 0) return SIM_KIN_ERR_CONFIGURATION; + (void)axis; /* Duplicate axis letters are valid for gantry/extra-joint mappings. */ + } + if (config->type == SIM_KIN_XYZAC_TRT && (!has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z') || !has_coordinate(coordinates, 'A') || !has_coordinate(coordinates, 'C'))) return SIM_KIN_ERR_CONFIGURATION; + if (config->type == SIM_KIN_XYZBC_TRT && (!has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z') || !has_coordinate(coordinates, 'B') || !has_coordinate(coordinates, 'C'))) return SIM_KIN_ERR_CONFIGURATION; + if ((config->type == SIM_KIN_XYZBCW || config->type == SIM_KIN_5AXISKINS) && (!has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z') || !has_coordinate(coordinates, 'B') || !has_coordinate(coordinates, 'C') || !has_coordinate(coordinates, 'W'))) return SIM_KIN_ERR_CONFIGURATION; + if ((config->type == SIM_KIN_COREXY || config->type == SIM_KIN_ROSE || + config->type == SIM_KIN_MAXKINS || config->type == SIM_KIN_ROTATEKINS) && + (!has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || + !has_coordinate(coordinates, 'Z'))) return SIM_KIN_ERR_CONFIGURATION; + if (config->type == SIM_KIN_ROSE && kinematics_count != 3) return SIM_KIN_ERR_CONFIGURATION; + if (config->type == SIM_KIN_SCARA && (kinematics_count != 6 || !has_coordinate(coordinates, 'C') || !has_coordinate(coordinates, 'A') || !has_coordinate(coordinates, 'B'))) return SIM_KIN_ERR_CONFIGURATION; + if (config->type == SIM_KIN_PUMA && (kinematics_count != 6 || !has_coordinate(coordinates, 'A') || !has_coordinate(coordinates, 'B') || !has_coordinate(coordinates, 'C'))) return SIM_KIN_ERR_CONFIGURATION; + if (config->type == SIM_KIN_SCORBOT && (kinematics_count != 5 || !has_coordinate(coordinates, 'A') || !has_coordinate(coordinates, 'B'))) return SIM_KIN_ERR_CONFIGURATION; + if (config->type == SIM_KIN_GENSER && (kinematics_count != 6 || !has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z') || !has_coordinate(coordinates, 'A') || !has_coordinate(coordinates, 'B') || !has_coordinate(coordinates, 'C') || (config->dh_joint_count != 0 && config->dh_joint_count != 6))) return SIM_KIN_ERR_CONFIGURATION; + if (config->type == SIM_KIN_GENSER && (!finite_values(config->dh_a, 6) || !finite_values(config->dh_alpha, 6) || !finite_values(config->dh_d, 6))) return SIM_KIN_ERR_NONFINITE; + if (config->type == SIM_KIN_LINEAR_DELTA) { + if (kinematics_count < 3 || !has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z')) return SIM_KIN_ERR_CONFIGURATION; + /* A completely zero geometry means "use the LinuxCNC defaults" and + * is filled in by init. Partially specified or non-positive geometry + * is always rejected instead of allowing a divide-by-zero later. */ + if (!((config->delta_radius == 0.0) && (config->delta_rod_length == 0.0)) && + (config->delta_radius <= 0.0 || config->delta_rod_length <= 0.0)) return SIM_KIN_ERR_CONFIGURATION; + } + if (config->type == SIM_KIN_ROTARY_DELTA) { + if (kinematics_count < 3 || !has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z')) return SIM_KIN_ERR_CONFIGURATION; + if (!((config->rotary_platform_radius == 0.0) && (config->rotary_thigh_length == 0.0) && + (config->rotary_shin_length == 0.0) && (config->rotary_foot_radius == 0.0)) && + (config->rotary_platform_radius <= 0.0 || config->rotary_thigh_length <= 0.0 || + config->rotary_shin_length <= 0.0 || config->rotary_foot_radius <= 0.0)) return SIM_KIN_ERR_CONFIGURATION; + } + if (config->type == SIM_KIN_TRIPOD) { + if (kinematics_count < 3 || !has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || !has_coordinate(coordinates, 'Z')) return SIM_KIN_ERR_CONFIGURATION; + if (!((config->tripod_bx == 0.0) && (config->tripod_cx == 0.0) && (config->tripod_cy == 0.0)) && + (fabs(config->tripod_bx) < 1e-12 || fabs(config->tripod_cy) < 1e-12)) return SIM_KIN_ERR_CONFIGURATION; + } + if (config->type == SIM_KIN_GENHEX) { + if (kinematics_count != SIM_KIN_GENHEX_STRUTS || + !has_coordinate(coordinates, 'X') || !has_coordinate(coordinates, 'Y') || + !has_coordinate(coordinates, 'Z') || !has_coordinate(coordinates, 'A') || + !has_coordinate(coordinates, 'B') || !has_coordinate(coordinates, 'C')) return SIM_KIN_ERR_CONFIGURATION; + if (config->genhex_iteration_limit > 100000u) return SIM_KIN_ERR_CONFIGURATION; + if (config->genhex_convergence_tolerance < 0.0 || !isfinite(config->genhex_convergence_tolerance) || + config->genhex_max_error < 0.0 || !isfinite(config->genhex_max_error) || + !finite_values(config->genhex_initial_pose, 6)) return SIM_KIN_ERR_CONFIGURATION; + for (index = 0; index < SIM_KIN_GENHEX_STRUTS; ++index) { + if (!finite_values(config->genhex_base[index], 3) || !finite_values(config->genhex_platform[index], 3) || + !finite_values(config->genhex_base_axis[index], 3) || !finite_values(config->genhex_platform_axis[index], 3)) return SIM_KIN_ERR_NONFINITE; + } + } + 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 (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; + } + for (index = 0; index < kinematics_count; ++index) { + if (config->limit_enabled[index] && (!isfinite(config->joint_min[index]) || !isfinite(config->joint_max[index]) || config->joint_min[index] > config->joint_max[index])) return SIM_KIN_ERR_CONFIGURATION; + } + return SIM_KIN_OK; +} + +static int in_limits(const sim_kinematics *kinematics, const double *joints) { + uint32_t index; + for (index = 0; index < kinematics_joint_count(&kinematics->config); ++index) + if (kinematics->config.limit_enabled[index] && (joints[index] < kinematics->config.joint_min[index] || joints[index] > kinematics->config.joint_max[index])) return SIM_KIN_ERR_RANGE; + return SIM_KIN_OK; +} + +static void map_joints(sim_kinematics *kinematics) { + size_t index; + for (index = 0; index < SIM_KIN_MAX_JOINTS; ++index) kinematics->axis_joint[index] = -1; + for (index = 0; index < kinematics_joint_count(&kinematics->config); ++index) { + int axis = axis_index((char)(kinematics->config.coordinates[index] >= 'a' && kinematics->config.coordinates[index] <= 'z' ? kinematics->config.coordinates[index] - 'a' + 'A' : kinematics->config.coordinates[index])); + if (axis >= 0 && kinematics->axis_joint[axis] < 0) kinematics->axis_joint[axis] = (int)index; + } +} + +int sim_kinematics_init(sim_kinematics *kinematics, const sim_kinematics_config *config) { + int result; + int geometry_zero; + if (kinematics == 0 || config == 0) return SIM_KIN_ERR_ARGUMENT; + result = valid_config(config); + if (result != SIM_KIN_OK) return result; + memset(kinematics, 0, sizeof(*kinematics)); + kinematics->config = *config; + if (kinematics->config.coordinates[0] == '\0') strcpy(kinematics->config.coordinates, "XYZABCUVW"); + if (kinematics->config.kinematics_joint_count == 0) kinematics->config.kinematics_joint_count = kinematics->config.joint_count; + if (kinematics->config.extra_joint_count == 0) kinematics->config.extra_joint_count = kinematics->config.joint_count - kinematics->config.kinematics_joint_count; + geometry_zero = kinematics->config.scara_d1 == 0.0 && kinematics->config.scara_d2 == 0.0 && + kinematics->config.scara_d3 == 0.0 && kinematics->config.scara_d4 == 0.0 && + kinematics->config.scara_d5 == 0.0 && kinematics->config.scara_d6 == 0.0; + if (kinematics->config.type == SIM_KIN_SCARA && geometry_zero) { + kinematics->config.scara_d1 = 490.0; kinematics->config.scara_d2 = 340.0; + kinematics->config.scara_d3 = 50.0; kinematics->config.scara_d4 = 250.0; + kinematics->config.scara_d5 = 50.0; kinematics->config.scara_d6 = 50.0; + } + if (kinematics->config.type == SIM_KIN_PUMA && kinematics->config.puma_a2 == 0.0 && + kinematics->config.puma_a3 == 0.0 && kinematics->config.puma_d3 == 0.0 && + kinematics->config.puma_d4 == 0.0 && kinematics->config.puma_d6 == 0.0) { + kinematics->config.puma_a2 = 300.0; kinematics->config.puma_a3 = 50.0; + kinematics->config.puma_d3 = 70.0; kinematics->config.puma_d4 = 400.0; + kinematics->config.puma_d6 = 70.0; + } + if (kinematics->config.type == SIM_KIN_GENSER && kinematics->config.dh_joint_count == 0) kinematics->config.dh_joint_count = 6; + if (kinematics->config.type == SIM_KIN_LINEAR_DELTA && kinematics->config.delta_radius == 0.0 && kinematics->config.delta_rod_length == 0.0) { + kinematics->config.delta_radius = 130.25; kinematics->config.delta_rod_length = 269.0; + } + if (kinematics->config.type == SIM_KIN_ROTARY_DELTA && kinematics->config.rotary_platform_radius == 0.0 && kinematics->config.rotary_thigh_length == 0.0 && kinematics->config.rotary_shin_length == 0.0 && kinematics->config.rotary_foot_radius == 0.0) { + kinematics->config.rotary_platform_radius = 10.0; kinematics->config.rotary_thigh_length = 10.0; kinematics->config.rotary_shin_length = 14.0; kinematics->config.rotary_foot_radius = 6.0; + } + if (kinematics->config.type == SIM_KIN_TRIPOD && kinematics->config.tripod_bx == 0.0 && kinematics->config.tripod_cx == 0.0 && kinematics->config.tripod_cy == 0.0) { + kinematics->config.tripod_bx = 10.0; kinematics->config.tripod_cx = 5.0; kinematics->config.tripod_cy = 7.071; + } + if (kinematics->config.type == SIM_KIN_GENHEX) { + size_t index; + int all_zero = 1; + static const double base[SIM_KIN_GENHEX_STRUTS][3] = { + {-22.950, 13.250, 0.0}, {22.950, 13.250, 0.0}, {22.950, 13.250, 0.0}, + {0.0, -26.500, 0.0}, {0.0, -26.500, 0.0}, {-22.950, 13.250, 0.0} + }; + static const double platform[SIM_KIN_GENHEX_STRUTS][3] = { + {-1.000, 11.500, 0.0}, {1.000, 11.500, 0.0}, {10.459, -4.884, 0.0}, + {9.459, -6.616, 0.0}, {-9.459, -6.616, 0.0}, {-10.459, -4.884, 0.0} + }; + static const double base_axis[SIM_KIN_GENHEX_STRUTS][3] = { + {0.707107, 0.0, 0.707107}, {0.0, -0.707107, 0.707107}, {-0.707107, 0.0, 0.707107}, + {-0.707107, 0.0, 0.707107}, {0.0, 0.707107, 0.707107}, {0.707107, 0.0, 0.707107} + }; + static const double platform_axis[SIM_KIN_GENHEX_STRUTS][3] = { + {-1.0, 0.0, 0.0}, {0.866025, 0.5, 0.0}, {0.866025, 0.5, 0.0}, + {0.866025, -0.5, 0.0}, {0.866025, -0.5, 0.0}, {-1.0, 0.0, 0.0} + }; + for (index = 0; index < SIM_KIN_GENHEX_STRUTS; ++index) { + size_t axis; + for (axis = 0; axis < 3; ++axis) if (kinematics->config.genhex_base[index][axis] != 0.0 || kinematics->config.genhex_platform[index][axis] != 0.0) all_zero = 0; + } + if (all_zero) { + memcpy(kinematics->config.genhex_base, base, sizeof(base)); + memcpy(kinematics->config.genhex_platform, platform, sizeof(platform)); + memcpy(kinematics->config.genhex_base_axis, base_axis, sizeof(base_axis)); + memcpy(kinematics->config.genhex_platform_axis, platform_axis, sizeof(platform_axis)); + } + if (kinematics->config.genhex_iteration_limit == 0) kinematics->config.genhex_iteration_limit = 120; + if (kinematics->config.genhex_convergence_tolerance == 0.0) kinematics->config.genhex_convergence_tolerance = 1e-9; + if (kinematics->config.genhex_max_error == 0.0) kinematics->config.genhex_max_error = 500.0; + if (kinematics->config.genhex_initial_pose[2] == 0.0) kinematics->config.genhex_initial_pose[2] = 50.0; + } + if (kinematics->config.type == SIM_KIN_PENTAPOD) { + static const double base[SIM_KIN_PENTA_STRUTS][3] = {{-418.0, 500.0, -140.0}, {418.0, 500.0, -140.0}, {0.0, 500.0, -310.0}, {418.0, 500.0, 510.0}, {-418.0, 500.0, 510.0}}; + static const double radius[SIM_KIN_PENTA_STRUTS] = {80.30, 80.30, 80.30, 80.30, 80.30}; + 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; + 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; + if (kinematics->config.penta_max_error == 0.0) kinematics->config.penta_max_error = 1000.0; + if (kinematics->config.penta_initial_pose[1] == 0.0) kinematics->config.penta_initial_pose[1] = 500.0; + if (kinematics->config.penta_initial_pose[2] == 0.0) kinematics->config.penta_initial_pose[2] = 300.0; + } + map_joints(kinematics); + kinematics->configured = 1; + return SIM_KIN_OK; +} + +static void zero_pose(sim_posemath_pose *pose) { memset(pose, 0, sizeof(*pose)); } + +static double joint(const sim_kinematics *k, const double *joints, int axis) { + int index = config_axis(k, axis); + return index < 0 ? 0.0 : joints[index]; +} + +static void set_optional_axes(const sim_kinematics *k, const double *joints, sim_posemath_pose *pose) { + pose->a = joint(k, joints, 3); pose->b = joint(k, joints, 4); pose->c = joint(k, joints, 5); + pose->u = joint(k, joints, 6); pose->v = joint(k, joints, 7); pose->w = joint(k, joints, 8); +} + +static void set_joint(double *joints, const sim_kinematics *k, int axis, double value); + +static int scara_forward(const sim_kinematics *k, const double *joints, sim_posemath_pose *pose) { + double a0 = joint(k, joints, 0) * DEG_TO_RAD; + double a1 = joint(k, joints, 1) * DEG_TO_RAD + a0; + double a3 = joint(k, joints, 5) * DEG_TO_RAD + a1; + pose->tran.x = k->config.scara_d2 * cos(a0) + k->config.scara_d4 * cos(a1) + k->config.scara_d6 * cos(a3); + pose->tran.y = k->config.scara_d2 * sin(a0) + k->config.scara_d4 * sin(a1) + k->config.scara_d6 * sin(a3); + pose->tran.z = k->config.scara_d1 + k->config.scara_d3 - joint(k, joints, 2) - k->config.scara_d5; + pose->c = a3 * RAD_TO_DEG; + pose->a = joint(k, joints, 3); pose->b = joint(k, joints, 4); + return SIM_KIN_OK; +} + +static int scara_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, double *joints, uint64_t flags, uint32_t *branch) { + double a3 = pose->c * DEG_TO_RAD; + double xt = pose->tran.x - k->config.scara_d6 * cos(a3); + double yt = pose->tran.y - k->config.scara_d6 * sin(a3); + double rsq = xt * xt + yt * yt; + double cc = (rsq - k->config.scara_d2 * k->config.scara_d2 - k->config.scara_d4 * k->config.scara_d4) / + (2.0 * k->config.scara_d2 * k->config.scara_d4); + double q1; + double q0; + if (cc < -1.0 - 1e-12 || cc > 1.0 + 1e-12) return SIM_KIN_ERR_RANGE; + if (cc < -1.0) cc = -1.0; + if (cc > 1.0) cc = 1.0; + q1 = acos(cc); + if (flags & UINT64_C(1)) q1 = -q1; + q0 = atan2(yt, xt) - atan2(k->config.scara_d4 * sin(q1), k->config.scara_d2 + k->config.scara_d4 * cos(q1)); + set_joint(joints, k, 0, q0 * RAD_TO_DEG); + set_joint(joints, k, 1, q1 * RAD_TO_DEG); + set_joint(joints, k, 2, k->config.scara_d1 + k->config.scara_d3 - k->config.scara_d5 - pose->tran.z); + set_joint(joints, k, 5, pose->c - (q0 + q1) * RAD_TO_DEG); + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 4, pose->b); + if (branch != 0) *branch = (q1 < 0.0) ? 1U : 0U; + return SIM_KIN_OK; +} + +static int scorbot_forward(const sim_kinematics *k, const double *joints, sim_posemath_pose *pose) { + double j0 = joint(k, joints, 0) * DEG_TO_RAD; + double j1 = joint(k, joints, 1) * DEG_TO_RAD; + double j2 = joint(k, joints, 2) * DEG_TO_RAD; + double radius = 16.0 + 221.0 * cos(j1) + 221.0 * cos(j2); + pose->tran.x = radius * cos(j0); + pose->tran.y = radius * sin(j0); + pose->tran.z = 140.0 + 221.0 * sin(j1) + 221.0 * sin(j2); + pose->a = joint(k, joints, 3); pose->b = joint(k, joints, 4); + return SIM_KIN_OK; +} + +static int scorbot_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, double *joints) { + double r = hypot(pose->tran.x, pose->tran.y) - 16.0; + double z = pose->tran.z - 140.0; + double distance = hypot(r, z); + double angle; + double j1; + if (distance < 1e-12 || distance > 442.0 + 1e-9) return SIM_KIN_ERR_RANGE; + angle = acos(r / distance) * (z < 0.0 ? -1.0 : 1.0); + j1 = angle + acos(distance / 442.0); + set_joint(joints, k, 0, atan2(pose->tran.y, pose->tran.x) * RAD_TO_DEG); + set_joint(joints, k, 1, j1 * RAD_TO_DEG); + set_joint(joints, k, 2, -asin((221.0 * sin(j1) - z) / 221.0) * RAD_TO_DEG); + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 4, pose->b); + return SIM_KIN_OK; +} + +static int puma_forward(const sim_kinematics *k, const double *joint_values, sim_posemath_pose *pose, uint32_t *branch) { + double q0 = joint(k, joint_values, 0) * DEG_TO_RAD; + double q1 = joint(k, joint_values, 1) * DEG_TO_RAD; + double q2 = joint(k, joint_values, 2) * DEG_TO_RAD; + double q3 = joint(k, joint_values, 3) * DEG_TO_RAD; + double q4 = joint(k, joint_values, 4) * DEG_TO_RAD; + double q5 = joint(k, joint_values, 5) * DEG_TO_RAD; + double s1 = sin(q0), s2 = sin(q1), s3 = sin(q2), s4 = sin(q3), s5 = sin(q4), s6 = sin(q5); + double c1 = cos(q0), c2 = cos(q1), c3 = cos(q2), c4 = cos(q3), c5 = cos(q4), c6 = cos(q5); + double s23 = c2 * s3 + s2 * c3; + double c23 = c2 * c3 - s2 * s3; + double t1, t2, t3, t4, t5; + PmHomogeneous hom = {0}; + PmRpy rpy = {0}; + t1 = c4 * c5 * c6 - s4 * s6; t2 = s23 * s5 * c6; t3 = s4 * c5 * c6 + c4 * s6; t4 = c23 * t1 - t2; t5 = c23 * s5 * c6; + hom.rot.x.x = c1 * t4 + s1 * t3; hom.rot.x.y = s1 * t4 - c1 * t3; hom.rot.x.z = -s23 * t1 - t5; + t1 = -c4 * c5 * s6 - s4 * c6; t2 = s23 * s5 * s6; t3 = c4 * c6 - s4 * c5 * s6; t4 = c23 * t1 + t2; t5 = c23 * s5 * s6; + hom.rot.y.x = c1 * t4 + s1 * t3; hom.rot.y.y = s1 * t4 - c1 * t3; hom.rot.y.z = -s23 * t1 + t5; + t1 = c23 * c4 * s5 + s23 * c5; + hom.rot.z.x = -c1 * t1 - s1 * s4 * s5; hom.rot.z.y = -s1 * t1 + c1 * s4 * s5; hom.rot.z.z = s23 * c4 * s5 - c23 * c5; + t1 = k->config.puma_a2 * c2 + k->config.puma_a3 * c23 - k->config.puma_d4 * s23; + hom.tran.x = c1 * t1 - k->config.puma_d3 * s1; + hom.tran.y = s1 * t1 + k->config.puma_d3 * c1; + hom.tran.z = -k->config.puma_a3 * s23 - k->config.puma_a2 * s2 - k->config.puma_d4 * c23; + hom.tran.x += hom.rot.z.x * k->config.puma_d6; + hom.tran.y += hom.rot.z.y * k->config.puma_d6; + hom.tran.z += hom.rot.z.z * k->config.puma_d6; + if (pmMatRpyConvert(&hom.rot, &rpy) != 0) return SIM_KIN_ERR_SINGULAR; + pose->tran.x = hom.tran.x; pose->tran.y = hom.tran.y; pose->tran.z = hom.tran.z; + pose->a = rpy.r * RAD_TO_DEG; pose->b = rpy.p * RAD_TO_DEG; pose->c = rpy.y * RAD_TO_DEG; + if (branch != 0) *branch = (fabs(s5) < 1e-9) ? 8U : 0U; + return SIM_KIN_OK; +} + +static int puma_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, double *joints, uint64_t flags, uint32_t *branch) { + PmRotationMatrix rot = {0}; + PmRpy rpy = {pose->a * DEG_TO_RAD, pose->b * DEG_TO_RAD, pose->c * DEG_TO_RAD}; + double px, py, pz, sum_sq, kterm, th1, th2, th3, th23, th4, th5, th6; + double s1, c1, s3, c3, s23, c23, s4, c4, s5, c5, s6, c6, t1, t2, t3; + if (pmRpyMatConvert(&rpy, &rot) != 0) return SIM_KIN_ERR_SINGULAR; + px = pose->tran.x - k->config.puma_d6 * rot.z.x; + py = pose->tran.y - k->config.puma_d6 * rot.z.y; + pz = pose->tran.z - k->config.puma_d6 * rot.z.z; + sum_sq = px * px + py * py - k->config.puma_d3 * k->config.puma_d3; + if (sum_sq < -1e-9) return SIM_KIN_ERR_RANGE; + if (sum_sq < 0.0) sum_sq = 0.0; + th1 = atan2(py, px) - atan2(k->config.puma_d3, (flags & 1U) ? -sqrt(sum_sq) : sqrt(sum_sq)); + s1 = sin(th1); c1 = cos(th1); + kterm = (sum_sq + pz * pz - k->config.puma_a2 * k->config.puma_a2 - k->config.puma_a3 * k->config.puma_a3 - k->config.puma_d4 * k->config.puma_d4) / (2.0 * k->config.puma_a2); + if (kterm * kterm > k->config.puma_a3 * k->config.puma_a3 + k->config.puma_d4 * k->config.puma_d4 + 1e-9) return SIM_KIN_ERR_RANGE; + if (kterm * kterm > k->config.puma_a3 * k->config.puma_a3 + k->config.puma_d4 * k->config.puma_d4) kterm = copysign(sqrt(k->config.puma_a3 * k->config.puma_a3 + k->config.puma_d4 * k->config.puma_d4), kterm); + th3 = atan2(k->config.puma_a3, k->config.puma_d4) - atan2(kterm, (flags & 2U) ? -sqrt(fmax(0.0, k->config.puma_a3 * k->config.puma_a3 + k->config.puma_d4 * k->config.puma_d4 - kterm * kterm)) : sqrt(fmax(0.0, k->config.puma_a3 * k->config.puma_a3 + k->config.puma_d4 * k->config.puma_d4 - kterm * kterm))); + s3 = sin(th3); c3 = cos(th3); + t1 = (-k->config.puma_a3 - k->config.puma_a2 * c3) * pz + (c1 * px + s1 * py) * (k->config.puma_a2 * s3 - k->config.puma_d4); + t2 = (k->config.puma_a2 * s3 - k->config.puma_d4) * pz + (k->config.puma_a3 + k->config.puma_a2 * c3) * (c1 * px + s1 * py); + t3 = pz * pz + (c1 * px + s1 * py) * (c1 * px + s1 * py); + if (t3 < 1e-18) return SIM_KIN_ERR_SINGULAR; + th23 = atan2(t1, t2); th2 = th23 - th3; s23 = t1 / t3; c23 = t2 / t3; + t1 = -rot.z.x * s1 + rot.z.y * c1; + t2 = -rot.z.x * c1 * c23 - rot.z.y * s1 * c23 + rot.z.z * s23; + if (fabs(t1) < 1e-9 && fabs(t2) < 1e-9) return SIM_KIN_ERR_SINGULAR; + th4 = atan2(t1, t2); s4 = sin(th4); c4 = cos(th4); + s5 = rot.z.z * (s23 * c4) - rot.z.x * (c1 * c23 * c4 + s1 * s4) - rot.z.y * (s1 * c23 * c4 - c1 * s4); + c5 = -rot.z.x * (c1 * s23) - rot.z.y * (s1 * s23) - rot.z.z * c23; th5 = atan2(s5, c5); + s6 = rot.x.z * (s23 * s4) - rot.x.x * (c1 * c23 * s4 - s1 * c4) - rot.x.y * (s1 * c23 * s4 + c1 * c4); + c6 = rot.x.x * ((c1 * c23 * c4 + s1 * s4) * c5 - c1 * s23 * s5) + rot.x.y * ((s1 * c23 * c4 - c1 * s4) * c5 - s1 * s23 * s5) - rot.x.z * (s23 * c4 * c5 + c23 * s5); + th6 = atan2(s6, c6); + if (flags & 4U) { th4 += PM_PI; th5 = -th5; th6 += PM_PI; } + set_joint(joints, k, 0, th1 * RAD_TO_DEG); set_joint(joints, k, 1, th2 * RAD_TO_DEG); set_joint(joints, k, 2, th3 * RAD_TO_DEG); + set_joint(joints, k, 3, th4 * RAD_TO_DEG); set_joint(joints, k, 4, th5 * RAD_TO_DEG); set_joint(joints, k, 5, th6 * RAD_TO_DEG); + if (branch != 0) *branch = (uint32_t)(flags & 7U); + return SIM_KIN_OK; +} + +static void mat4_identity(double m[4][4]) { + int row, col; + for (row = 0; row < 4; ++row) for (col = 0; col < 4; ++col) m[row][col] = row == col ? 1.0 : 0.0; +} + +static void mat4_multiply(const double left[4][4], const double right[4][4], double out[4][4]) { + double value[4][4]; + int row, col, inner; + for (row = 0; row < 4; ++row) for (col = 0; col < 4; ++col) { + value[row][col] = 0.0; + for (inner = 0; inner < 4; ++inner) value[row][col] += left[row][inner] * right[inner][col]; + } + memcpy(out, value, sizeof(value)); +} + +static int genser_forward(const sim_kinematics *k, const double *joints, sim_posemath_pose *pose) { + double total[4][4]; + uint32_t index; + PmRotationMatrix rotation; + PmRpy rpy; + mat4_identity(total); + for (index = 0; index < 6; ++index) { + double theta = joints[index] * DEG_TO_RAD; + double alpha = k->config.dh_alpha[index]; + double ct = cos(theta), st = sin(theta), ca = cos(alpha), sa = sin(alpha); + double link[4][4] = { + {ct, -st, 0.0, k->config.dh_a[index]}, + {st * ca, ct * ca, -sa, -sa * k->config.dh_d[index]}, + {st * sa, ct * sa, ca, ca * k->config.dh_d[index]}, + {0.0, 0.0, 0.0, 1.0}, + }; + mat4_multiply(total, link, total); + } + rotation.x.x = total[0][0]; rotation.y.x = total[0][1]; rotation.z.x = total[0][2]; + rotation.x.y = total[1][0]; rotation.y.y = total[1][1]; rotation.z.y = total[1][2]; + rotation.x.z = total[2][0]; rotation.y.z = total[2][1]; rotation.z.z = total[2][2]; + if (pmMatRpyConvert(&rotation, &rpy) != 0) return SIM_KIN_ERR_SINGULAR; + pose->tran.x = total[0][3]; pose->tran.y = total[1][3]; pose->tran.z = total[2][3]; + pose->a = rpy.r * RAD_TO_DEG; pose->b = rpy.p * RAD_TO_DEG; pose->c = rpy.y * RAD_TO_DEG; + return SIM_KIN_OK; +} + +static double wrap_degrees(double value) { + value = fmod(value + 180.0, 360.0); + if (value < 0.0) value += 360.0; + return value - 180.0; +} + +static int solve_linear6(double matrix[6][6], double rhs[6], double result[6]) { + int pivot, row, col; + for (pivot = 0; pivot < 6; ++pivot) { + int best = pivot; + double best_abs = fabs(matrix[pivot][pivot]); + for (row = pivot + 1; row < 6; ++row) if (fabs(matrix[row][pivot]) > best_abs) { best = row; best_abs = fabs(matrix[row][pivot]); } + if (best_abs < 1e-14) return SIM_KIN_ERR_SINGULAR; + if (best != pivot) { + for (col = pivot; col < 6; ++col) { double tmp = matrix[pivot][col]; matrix[pivot][col] = matrix[best][col]; matrix[best][col] = tmp; } + { double tmp = rhs[pivot]; rhs[pivot] = rhs[best]; rhs[best] = tmp; } + } + for (row = pivot + 1; row < 6; ++row) { + double factor = matrix[row][pivot] / matrix[pivot][pivot]; + for (col = pivot; col < 6; ++col) matrix[row][col] -= factor * matrix[pivot][col]; + rhs[row] -= factor * rhs[pivot]; + } + } + for (row = 5; row >= 0; --row) { + double value = rhs[row]; + for (col = row + 1; col < 6; ++col) value -= matrix[row][col] * result[col]; + result[row] = value / matrix[row][row]; + } + return SIM_KIN_OK; +} + +static int genser_inverse(const sim_kinematics *k, const sim_posemath_pose *target, double *joints, uint32_t max_iterations, double tolerance, sim_kinematics_result_info *info) { + uint32_t iteration; + double current[SIM_KIN_MAX_JOINTS] = {0}; + double residual = 0.0; + if (max_iterations == 0) max_iterations = 100; + if (tolerance == 0.0) tolerance = 1e-9; + for (iteration = 0; iteration < max_iterations; ++iteration) { + sim_posemath_pose estimate; + double error[6]; + double jacobian[6][6]; + double normal[6][6] = {{0}}; + double rhs[6] = {0}; + double delta[6] = {0}; + int column, row, inner; + if (genser_forward(k, current, &estimate) != SIM_KIN_OK) return SIM_KIN_ERR_SINGULAR; + error[0] = target->tran.x - estimate.tran.x; error[1] = target->tran.y - estimate.tran.y; error[2] = target->tran.z - estimate.tran.z; + error[3] = wrap_degrees(target->a - estimate.a); error[4] = wrap_degrees(target->b - estimate.b); error[5] = wrap_degrees(target->c - estimate.c); + residual = 0.0; for (row = 0; row < 6; ++row) residual += error[row] * error[row]; residual = sqrt(residual); + if (residual <= tolerance) { + memcpy(joints, current, sizeof(double) * 6); + if (info != 0) { info->iterations = iteration; info->residual = residual; info->branch_id = 0; } + return SIM_KIN_OK; + } + for (column = 0; column < 6; ++column) { + double perturbed[SIM_KIN_MAX_JOINTS]; + sim_posemath_pose next; + memcpy(perturbed, current, sizeof(perturbed)); perturbed[column] += 1e-4; + if (genser_forward(k, perturbed, &next) != SIM_KIN_OK) return SIM_KIN_ERR_SINGULAR; + jacobian[0][column] = (next.tran.x - estimate.tran.x) / 1e-4; jacobian[1][column] = (next.tran.y - estimate.tran.y) / 1e-4; jacobian[2][column] = (next.tran.z - estimate.tran.z) / 1e-4; + jacobian[3][column] = wrap_degrees(next.a - estimate.a) / 1e-4; jacobian[4][column] = wrap_degrees(next.b - estimate.b) / 1e-4; jacobian[5][column] = wrap_degrees(next.c - estimate.c) / 1e-4; + } + for (row = 0; row < 6; ++row) for (column = 0; column < 6; ++column) { + for (inner = 0; inner < 6; ++inner) normal[row][column] += jacobian[inner][row] * jacobian[inner][column]; + normal[row][column] += row == column ? 1e-6 : 0.0; + for (inner = 0; inner < 6; ++inner) if (column == row) rhs[row] += jacobian[inner][row] * error[inner]; + } + if (solve_linear6(normal, rhs, delta) != SIM_KIN_OK) return SIM_KIN_ERR_SINGULAR; + for (column = 0; column < 6; ++column) current[column] += delta[column]; + } + if (info != 0) { info->iterations = max_iterations; info->residual = residual; info->branch_id = 0; } + return SIM_KIN_ERR_SINGULAR; +} + +static int linear_delta_forward(const sim_kinematics *k, const double *joints, uint64_t flags, + sim_posemath_pose *pose, uint32_t *branch) { + double R = k->config.delta_radius, L = k->config.delta_rod_length; + double Ay = R, Bx = -sqrt(3.0) * 0.5 * R, By = -0.5 * R, Cx = -Bx, Cy = By; + double q1 = joint(k, joints, 0), q2 = joint(k, joints, 1), q3 = joint(k, joints, 2); + double den = (By - Ay) * Cx - (Cy - Ay) * Bx; + double w1 = Ay * Ay + q1 * q1, w2 = Bx * Bx + By * By + q2 * q2, w3 = Cx * Cx + Cy * Cy + q3 * q3; + double a1 = (q2 - q1) * (Cy - Ay) - (q3 - q1) * (By - Ay); + double b1 = -((w2 - w1) * (Cy - Ay) - (w3 - w1) * (By - Ay)) / 2.0; + double a2 = -(q2 - q1) * Cx + (q3 - q1) * Bx; + double b2 = ((w2 - w1) * Cx - (w3 - w1) * Bx) / 2.0; + double aa = a1 * a1 + a2 * a2 + den * den; + double bb = 2.0 * (a1 * b1 + a2 * (b2 - Ay * den) - q1 * den * den); + double cc = (b2 - Ay * den) * (b2 - Ay * den) + b1 * b1 + den * den * (q1 * q1 - L * L); + double discr = bb * bb - 4.0 * aa * cc; + double z; + if (fabs(den) < 1e-18 || fabs(aa) < 1e-18) return SIM_KIN_ERR_SINGULAR; + if (discr < -1e-12) return SIM_KIN_ERR_RANGE; + if (discr < 0.0) discr = 0.0; + z = (-bb + ((flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? sqrt(discr) : -sqrt(discr))) / (2.0 * aa); + pose->tran.z = z; pose->tran.x = (a1 * z + b1) / den; pose->tran.y = (a2 * z + b2) / den; + set_optional_axes(k, joints, pose); + if (branch != 0) *branch = (flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? 1U : 0U; + return SIM_KIN_OK; +} + +static int linear_delta_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, uint64_t flags, + double *joints, uint32_t *branch) { + double R = k->config.delta_radius, L = k->config.delta_rod_length; + double Ax = 0.0, Ay = R, Bx = -sqrt(3.0) * 0.5 * R, By = -0.5 * R, Cx = -Bx, Cy = By; + double x = pose->tran.x, y = pose->tran.y, z = pose->tran.z; + double rad[3] = {L * L - (Ax - x) * (Ax - x) - (Ay - y) * (Ay - y), L * L - (Bx - x) * (Bx - x) - (By - y) * (By - y), L * L - (Cx - x) * (Cx - x) - (Cy - y) * (Cy - y)}; + int index; + for (index = 0; index < 3; ++index) if (rad[index] < -1e-12) return SIM_KIN_ERR_RANGE; + for (index = 0; index < 3; ++index) { + double root = sqrt(fmax(0.0, rad[index])); + set_joint(joints, k, index, z + ((flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? -root : root)); + } + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); set_joint(joints, k, 6, pose->u); set_joint(joints, k, 7, pose->v); set_joint(joints, k, 8, pose->w); + if (branch != 0) *branch = (flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? 1U : 0U; + return SIM_KIN_OK; +} + +static int rotary_delta_forward(const sim_kinematics *k, const double *joints, uint64_t flags, + sim_posemath_pose *pose, uint32_t *branch) { + double pfr = k->config.rotary_platform_radius, tl = k->config.rotary_thigh_length, sl = k->config.rotary_shin_length, fr = k->config.rotary_foot_radius; + double j0 = joint(k, joints, 0) * DEG_TO_RAD, j1 = joint(k, joints, 1) * DEG_TO_RAD, j2 = joint(k, joints, 2) * DEG_TO_RAD; + double y1 = -(pfr - fr + tl * cos(j0)), z1 = -tl * sin(j0); + double y2 = (pfr - fr + tl * cos(j1)) * 0.5, x2 = y2 * sqrt(3.0), z2 = -tl * sin(j1); + double y3 = (pfr - fr + tl * cos(j2)) * 0.5, x3 = -y3 * sqrt(3.0), z3 = -tl * sin(j2); + double den = x3 * (y2 - y1) - x2 * (y3 - y1); + double w1 = y1 * y1 + z1 * z1, w2 = x2 * x2 + y2 * y2 + z2 * z2, w3 = x3 * x3 + y3 * y3 + z3 * z3; + double a1 = (z2 - z1) * (y3 - y1) - (z3 - z1) * (y2 - y1), b1 = -((w2 - w1) * (y3 - y1) - (w3 - w1) * (y2 - y1)) / 2.0; + double a2 = -(z2 - z1) * x3 + (z3 - z1) * x2, b2 = ((w2 - w1) * x3 - (w3 - w1) * x2) / 2.0; + double aa = a1 * a1 + a2 * a2 + den * den, bb = 2.0 * (a1 * b1 + a2 * (b2 - y1 * den) - z1 * den * den), cc = (b2 - y1 * den) * (b2 - y1 * den) + b1 * b1 + den * den * (z1 * z1 - sl * sl); + double discr = bb * bb - 4.0 * aa * cc; + if (fabs(den) < 1e-18 || fabs(aa) < 1e-18) return SIM_KIN_ERR_SINGULAR; + if (discr < -1e-12) return SIM_KIN_ERR_RANGE; + if (discr < 0.0) discr = 0.0; + pose->tran.z = (-bb + ((flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? sqrt(discr) : -sqrt(discr))) / (2.0 * aa); + pose->tran.x = (a1 * pose->tran.z + b1) / den; pose->tran.y = (a2 * pose->tran.z + b2) / den; + set_optional_axes(k, joints, pose); + if (branch != 0) *branch = (flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? 1U : 0U; + return SIM_KIN_OK; +} + +static int rotary_delta_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, uint64_t flags, + double *joints, uint32_t *branch) { + double pfr = k->config.rotary_platform_radius, tl = k->config.rotary_thigh_length, sl = k->config.rotary_shin_length, fr = k->config.rotary_foot_radius; + double x = pose->tran.x, y = pose->tran.y, z = pose->tran.z; + double a, b, d, knee_y, knee_z, xr, yr; + if (fabs(z) < 1e-12) return SIM_KIN_ERR_SINGULAR; + a = 0.5 * (x * x + (y - fr) * (y - fr) + z * z + tl * tl - sl * sl - pfr * pfr) / z; + b = (fr - pfr - y) / z; + d = tl * tl * (b * b + 1.0) - (a - b * pfr) * (a - b * pfr); + if (d < 0.0) return SIM_KIN_ERR_RANGE; + knee_y = (pfr + a * b + ((flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? -sqrt(d) : sqrt(d))) / (b * b + 1.0); knee_z = b * knee_y - a; + set_joint(joints, k, 0, atan2(knee_z, knee_y - pfr) * RAD_TO_DEG); + xr = x; yr = y; { double c = cos(-2.0 * 3.14159265358979323846 / 3.0), s = sin(-2.0 * 3.14159265358979323846 / 3.0); double tx = xr * c - yr * s; yr = xr * s + yr * c; xr = tx; } + a = 0.5 * (xr * xr + (yr - fr) * (yr - fr) + z * z + tl * tl - sl * sl - pfr * pfr) / z; b = (fr - pfr - yr) / z; d = tl * tl * (b * b + 1.0) - (a - b * pfr) * (a - b * pfr); if (d < 0.0) return SIM_KIN_ERR_RANGE; knee_y = (pfr + a * b + ((flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? -sqrt(d) : sqrt(d))) / (b * b + 1.0); knee_z = b * knee_y - a; set_joint(joints, k, 1, atan2(knee_z, knee_y - pfr) * RAD_TO_DEG); + xr = x; yr = y; { double c = cos(2.0 * 3.14159265358979323846 / 3.0), s = sin(2.0 * 3.14159265358979323846 / 3.0); double tx = xr * c - yr * s; yr = xr * s + yr * c; xr = tx; } + a = 0.5 * (xr * xr + (yr - fr) * (yr - fr) + z * z + tl * tl - sl * sl - pfr * pfr) / z; b = (fr - pfr - yr) / z; d = tl * tl * (b * b + 1.0) - (a - b * pfr) * (a - b * pfr); if (d < 0.0) return SIM_KIN_ERR_RANGE; knee_y = (pfr + a * b + ((flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? -sqrt(d) : sqrt(d))) / (b * b + 1.0); knee_z = b * knee_y - a; set_joint(joints, k, 2, atan2(knee_z, knee_y - pfr) * RAD_TO_DEG); + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); set_joint(joints, k, 6, pose->u); set_joint(joints, k, 7, pose->v); set_joint(joints, k, 8, pose->w); + if (flags & SIM_KIN_DELTA_ALTERNATE_ROOT) { + /* The alternate knee branch is the reflected root of each leg. */ + set_joint(joints, k, 0, atan2(knee_z, knee_y - pfr) * RAD_TO_DEG); + /* Recompute the rotated legs through the common helper below; the + * default branch remains byte-for-byte compatible with LinuxCNC. */ + { + double xr2 = x, yr2 = y; + double c2 = cos(-2.0 * 3.14159265358979323846 / 3.0), s2 = sin(-2.0 * 3.14159265358979323846 / 3.0); + double tx2 = xr2 * c2 - yr2 * s2; yr2 = xr2 * s2 + yr2 * c2; xr2 = tx2; + a = 0.5 * (xr2 * xr2 + (yr2 - fr) * (yr2 - fr) + z * z + tl * tl - sl * sl - pfr * pfr) / z; + b = (fr - pfr - yr2) / z; d = tl * tl * (b * b + 1.0) - (a - b * pfr) * (a - b * pfr); + if (d < 0.0) return SIM_KIN_ERR_RANGE; + knee_y = (pfr + a * b - sqrt(d)) / (b * b + 1.0); knee_z = b * knee_y - a; + set_joint(joints, k, 1, atan2(knee_z, knee_y - pfr) * RAD_TO_DEG); + xr2 = x; yr2 = y; c2 = cos(2.0 * 3.14159265358979323846 / 3.0); s2 = sin(2.0 * 3.14159265358979323846 / 3.0); + tx2 = xr2 * c2 - yr2 * s2; yr2 = xr2 * s2 + yr2 * c2; xr2 = tx2; + a = 0.5 * (xr2 * xr2 + (yr2 - fr) * (yr2 - fr) + z * z + tl * tl - sl * sl - pfr * pfr) / z; + b = (fr - pfr - yr2) / z; d = tl * tl * (b * b + 1.0) - (a - b * pfr) * (a - b * pfr); + if (d < 0.0) return SIM_KIN_ERR_RANGE; + knee_y = (pfr + a * b - sqrt(d)) / (b * b + 1.0); knee_z = b * knee_y - a; + set_joint(joints, k, 2, atan2(knee_z, knee_y - pfr) * RAD_TO_DEG); + } + } + if (branch != 0) *branch = (flags & SIM_KIN_DELTA_ALTERNATE_ROOT) ? 1U : 0U; + return SIM_KIN_OK; +} + +/* Point-vertex tripod kinematics from LinuxCNC's tripodkins.c. The three + * strut lengths determine X/Y uniquely; the quadratic Z root is selected by + * the forward flag (above-base by default, below-base when bit zero is set). */ +static int tripod_forward(const sim_kinematics *k, const double *joints, uint64_t flags, + sim_posemath_pose *pose, uint32_t *branch) { + double bx = k->config.tripod_bx, cx = k->config.tripod_cx, cy = k->config.tripod_cy; + double ad = joint(k, joints, 0), bd = joint(k, joints, 1), cd = joint(k, joints, 2); + double p = ad * ad; + double q = bd * bd - bx * bx; + double r = cd * cd - cx * cx - cy * cy; + double s = -2.0 * bx, t = -2.0 * cx, u = -2.0 * cy; + double x, y, z2; + if (fabs(s) < 1e-12 || fabs(u) < 1e-12) return SIM_KIN_ERR_CONFIGURATION; + x = (q - p) / s; + y = (r - q - (t - s) * x) / u; + z2 = p - x * x - y * y; + if (z2 < -1e-12) return SIM_KIN_ERR_RANGE; + if (z2 <= 1e-12) return SIM_KIN_ERR_SINGULAR; + pose->tran.x = x; + pose->tran.y = y; + pose->tran.z = (flags & SIM_KIN_TRIPOD_BELOW_ROOT) ? -sqrt(z2) : sqrt(z2); + pose->a = 0.0; pose->b = 0.0; pose->c = 0.0; + set_optional_axes(k, joints, pose); + if (branch != 0) *branch = (flags & SIM_KIN_TRIPOD_BELOW_ROOT) ? 1U : 0U; + return SIM_KIN_OK; +} + +static int tripod_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, + double *joints, uint32_t *branch) { + double bx = k->config.tripod_bx, cx = k->config.tripod_cx, cy = k->config.tripod_cy; + double x = pose->tran.x, y = pose->tran.y, z = pose->tran.z; + set_joint(joints, k, 0, sqrt(x * x + y * y + z * z)); + set_joint(joints, k, 1, sqrt((x - bx) * (x - bx) + y * y + z * z)); + set_joint(joints, k, 2, sqrt((x - cx) * (x - cx) + (y - cy) * (y - cy) + z * z)); + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); + set_joint(joints, k, 6, pose->u); set_joint(joints, k, 7, pose->v); set_joint(joints, k, 8, pose->w); + if (branch != 0) *branch = z < 0.0 ? 1U : 0U; + return SIM_KIN_OK; +} + +/* Generalized six-strut Stewart platform. Inverse kinematics is the + * closed-form leg-length calculation; forward kinematics follows LinuxCNC's + * Newton solve from a deterministic pose seed. The rotational Jacobian uses + * the platform attachment vector crossed with the unit strut vector, which + * is the small-angle derivative used by genhexkins.c. */ +static int genhex_lengths(const sim_kinematics *k, const double q[6], double lengths[SIM_KIN_GENHEX_STRUTS], double jacobian[SIM_KIN_GENHEX_STRUTS][6]) { + PmRpy rpy; + PmRotationMatrix rotation; + size_t index; + rpy.r = q[3]; rpy.p = q[4]; rpy.y = q[5]; + if (pmRpyMatConvert(&rpy, &rotation) != 0) return SIM_KIN_ERR_SINGULAR; + for (index = 0; index < SIM_KIN_GENHEX_STRUTS; ++index) { + PmCartesian platform = {k->config.genhex_platform[index][0], k->config.genhex_platform[index][1], k->config.genhex_platform[index][2]}; + PmCartesian base = {k->config.genhex_base[index][0], k->config.genhex_base[index][1], k->config.genhex_base[index][2]}; + PmCartesian rotated; + PmCartesian world; + PmCartesian vector; + PmCartesian unit; + PmCartesian cross; + double length; + pmMatCartMult(&rotation, &platform, &rotated); + world.x = q[0] + rotated.x; world.y = q[1] + rotated.y; world.z = q[2] + rotated.z; + vector.x = world.x - base.x; vector.y = world.y - base.y; vector.z = world.z - base.z; + if (pmCartUnit(&vector, &unit) != 0 || pmCartMag(&vector, &length) != 0 || !isfinite(length)) return SIM_KIN_ERR_SINGULAR; + lengths[index] = length; + if (jacobian != 0) { + pmCartCartCross(&rotated, &unit, &cross); + jacobian[index][0] = unit.x; jacobian[index][1] = unit.y; jacobian[index][2] = unit.z; + jacobian[index][3] = cross.x; jacobian[index][4] = cross.y; jacobian[index][5] = cross.z; + } + } + return SIM_KIN_OK; +} + +static int genhex_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, double *joints) { + double q[6] = {pose->tran.x, pose->tran.y, pose->tran.z, pose->a * DEG_TO_RAD, pose->b * DEG_TO_RAD, pose->c * DEG_TO_RAD}; + double lengths[SIM_KIN_GENHEX_STRUTS]; + size_t index; + int result = genhex_lengths(k, q, lengths, 0); + if (result != SIM_KIN_OK) return result; + for (index = 0; index < SIM_KIN_GENHEX_STRUTS; ++index) joints[index] = lengths[index]; + return SIM_KIN_OK; +} + +static int genhex_forward(const sim_kinematics *k, const double *joints, uint64_t flags, + sim_posemath_pose *pose, sim_kinematics_result_info *info) { + double q[6]; + double lengths[SIM_KIN_GENHEX_STRUTS]; + double jacobian[SIM_KIN_GENHEX_STRUTS][6]; + double residual = 0.0; + uint32_t iteration; + int result; + for (size_t index = 0; index < 6; ++index) q[index] = k->config.genhex_initial_pose[index]; + if (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) q[2] = -q[2]; + for (iteration = 1; iteration <= k->config.genhex_iteration_limit; ++iteration) { + double matrix[6][6]; + double rhs[6]; + double delta[6] = {0}; + int row; + result = genhex_lengths(k, q, lengths, jacobian); + if (result != SIM_KIN_OK) return result; + residual = 0.0; + for (row = 0; row < (int)SIM_KIN_GENHEX_STRUTS; ++row) { + double difference = lengths[row] - joints[row]; + rhs[row] = difference; + residual += fabs(difference); + for (int column = 0; column < 6; ++column) matrix[row][column] = jacobian[row][column]; + } + if (residual <= k->config.genhex_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 = q[5] * RAD_TO_DEG; + pose->u = 0.0; pose->v = 0.0; pose->w = 0.0; + if (info != 0) { info->iterations = iteration; info->residual = residual; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } + return SIM_KIN_OK; + } + if (residual > k->config.genhex_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; + } + result = solve_linear6(matrix, rhs, delta); + if (result != SIM_KIN_OK) { + if (info != 0) { info->iterations = iteration; info->residual = residual; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } + return result; + } + for (int column = 0; column < 6; ++column) q[column] -= delta[column]; + } + if (info != 0) { info->iterations = k->config.genhex_iteration_limit; info->residual = residual; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } + return SIM_KIN_ERR_RANGE; +} + +static int solve_linear5(double matrix[5][5], double rhs[5], double result[5]) { + for (int pivot = 0; pivot < 5; ++pivot) { + int best = pivot; + double magnitude = fabs(matrix[pivot][pivot]); + for (int row = pivot + 1; row < 5; ++row) if (fabs(matrix[row][pivot]) > magnitude) { best = row; magnitude = fabs(matrix[row][pivot]); } + if (magnitude < 1e-14) return SIM_KIN_ERR_SINGULAR; + if (best != pivot) { for (int col = pivot; col < 5; ++col) { double tmp = matrix[pivot][col]; matrix[pivot][col] = matrix[best][col]; matrix[best][col] = tmp; } { double tmp = rhs[pivot]; rhs[pivot] = rhs[best]; rhs[best] = tmp; } } + for (int row = pivot + 1; row < 5; ++row) { double factor = matrix[row][pivot] / matrix[pivot][pivot]; for (int col = pivot; col < 5; ++col) matrix[row][col] -= factor * matrix[pivot][col]; rhs[row] -= factor * rhs[pivot]; } + } + for (int row = 4; row >= 0; --row) { double value = rhs[row]; for (int col = row + 1; col < 5; ++col) value -= matrix[row][col] * result[col]; result[row] = value / matrix[row][row]; } + return SIM_KIN_OK; +} + +static int pentapod_lengths(const sim_kinematics *k, const double q[5], double lengths[SIM_KIN_PENTA_STRUTS]) { + PmRpy rpy = {q[3], q[4], 0.0}; + 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]}; + PmCartesian local; + double radial; + pmMatCartMult(&inverse, &base, &local); + radial = hypot(local.x, local.y); + lengths[index] = hypot(radial - k->config.penta_effector_radius[index], local.z - (k->config.penta_effector_z[index] + k->config.penta_tool_offset)); + if (!isfinite(lengths[index])) return SIM_KIN_ERR_NONFINITE; + } + return SIM_KIN_OK; +} + +static int pentapod_inverse(const sim_kinematics *k, const sim_posemath_pose *pose, double *joints) { + double q[5] = {pose->tran.x, pose->tran.y, pose->tran.z, pose->a * DEG_TO_RAD, pose->b * DEG_TO_RAD}; + double lengths[SIM_KIN_PENTA_STRUTS]; + int result = pentapod_lengths(k, q, lengths); + if (result != SIM_KIN_OK) return result; + for (size_t index = 0; index < SIM_KIN_PENTA_STRUTS; ++index) joints[index] = lengths[index]; + return SIM_KIN_OK; +} + +static int pentapod_forward(const sim_kinematics *k, const double *joints, uint64_t flags, sim_posemath_pose *pose, sim_kinematics_result_info *info) { + double q[5]; + double lengths[SIM_KIN_PENTA_STRUTS]; + double residual = 0.0; + uint32_t iteration; + 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) { + double jacobian[5][5]; + double rhs[5]; + double delta[5] = {0}; + int result = pentapod_lengths(k, q, lengths); + if (result != SIM_KIN_OK) return result; + residual = 0.0; + for (int row = 0; row < 5; ++row) { + double perturbed[5]; + rhs[row] = lengths[row] - joints[row]; residual += fabs(rhs[row]); + for (int column = 0; column < 5; ++column) { + double next[SIM_KIN_PENTA_STRUTS]; + memcpy(perturbed, q, sizeof(perturbed)); perturbed[column] += 1e-4; + if (pentapod_lengths(k, perturbed, next) != SIM_KIN_OK) return SIM_KIN_ERR_SINGULAR; + jacobian[row][column] = (next[row] - lengths[row]) * 1e4; + } + } + 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; } + return SIM_KIN_OK; + } + if (residual > k->config.penta_max_error) 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]; + } + if (info != 0) { info->iterations = k->config.penta_iteration_limit; info->residual = residual; info->branch_id = (flags & SIM_KIN_GENHEX_ALTERNATE_SEED) ? 1U : 0U; } + return SIM_KIN_ERR_RANGE; +} + +int sim_kinematics_forward_ex(const sim_kinematics *k, const double *joints, uint32_t joint_count, + uint64_t inverse_flags, sim_posemath_pose *pose, + sim_kinematics_result_info *info) { + double a, b, c, x, y, z; + initialize_info(info, 0, inverse_flags); + if (k == 0 || joints == 0 || pose == 0) return SIM_KIN_ERR_ARGUMENT; + if (!k->configured || joint_count != kinematics_joint_count(&k->config)) return SIM_KIN_ERR_CONFIGURATION; + if (effective_mode(&k->config) == SIM_KIN_MODE_INVERSE_ONLY) return SIM_KIN_ERR_UNSUPPORTED; + if (!finite_values(joints, joint_count)) return SIM_KIN_ERR_NONFINITE; + if (in_limits(k, joints) != SIM_KIN_OK) return SIM_KIN_ERR_RANGE; + zero_pose(pose); + x = joint(k, joints, 0); y = joint(k, joints, 1); z = joint(k, joints, 2); + if (k->config.type == SIM_KIN_TRIVKINS) { pose->tran.x = x; pose->tran.y = y; pose->tran.z = z; set_optional_axes(k, joints, pose); return SIM_KIN_OK; } + if (k->config.type == SIM_KIN_SCARA) return scara_forward(k, joints, pose); + if (k->config.type == SIM_KIN_SCORBOT) return scorbot_forward(k, joints, pose); + if (k->config.type == SIM_KIN_PUMA) { + uint32_t branch = 0; + int result = puma_forward(k, joints, pose, &branch); + if (info != 0) info->branch_id = branch; + return result; + } + if (k->config.type == SIM_KIN_GENSER) return genser_forward(k, joints, pose); + if (k->config.type == SIM_KIN_LINEAR_DELTA) { + uint32_t branch = 0; + int result = linear_delta_forward(k, joints, inverse_flags, pose, &branch); + if (info != 0) { info->branch_id = branch; info->iterations = 0; info->residual = 0.0; } + return result; + } + if (k->config.type == SIM_KIN_ROTARY_DELTA) { + uint32_t branch = 0; + int result = rotary_delta_forward(k, joints, inverse_flags, pose, &branch); + if (info != 0) { info->branch_id = branch; info->iterations = 0; info->residual = 0.0; } + return result; + } + if (k->config.type == SIM_KIN_TRIPOD) { + uint32_t branch = 0; + int result = tripod_forward(k, joints, inverse_flags, pose, &branch); + if (info != 0) { info->branch_id = branch; info->iterations = 0; info->residual = 0.0; } + return result; + } + if (k->config.type == SIM_KIN_GENHEX) { + return genhex_forward(k, joints, inverse_flags, pose, info); + } + if (k->config.type == SIM_KIN_PENTAPOD) { + return pentapod_forward(k, joints, inverse_flags, pose, info); + } + if (k->config.type == SIM_KIN_COREXY) { + pose->tran.x = 0.5 * (x + y); + pose->tran.y = 0.5 * (x - y); + pose->tran.z = z; + set_optional_axes(k, joints, pose); + return SIM_KIN_OK; + } + if (k->config.type == SIM_KIN_ROSE) { + double theta = z * DEG_TO_RAD; + pose->tran.x = x * cos(theta); + pose->tran.y = x * sin(theta); + pose->tran.z = y; + return sim_kinematics_validate_pose(pose); + } + c = joint(k, joints, 5) * DEG_TO_RAD; + if (k->config.type == SIM_KIN_XYZAC_TRT) { + double dy = k->config.y_offset; + double dz = k->config.z_offset + k->config.tool_offset; + a = joint(k, joints, 3) * DEG_TO_RAD; + pose->tran.x = cos(c) * (x - k->config.x_rot_point) + sin(c) * cos(a) * (y - dy - k->config.y_rot_point) + sin(c) * sin(a) * (z - dz - k->config.z_rot_point) + sin(c) * dy + k->config.x_rot_point; + pose->tran.y = -sin(c) * (x - k->config.x_rot_point) + cos(c) * cos(a) * (y - dy - k->config.y_rot_point) + cos(c) * sin(a) * (z - dz - k->config.z_rot_point) + cos(c) * dy + k->config.y_rot_point; + pose->tran.z = -sin(a) * (y - dy - k->config.y_rot_point) + cos(a) * (z - dz - k->config.z_rot_point) + dz + k->config.z_rot_point; + } else if (k->config.type == SIM_KIN_XYZBC_TRT) { + double dx = k->config.x_offset; + double dz = k->config.z_offset + k->config.tool_offset; + b = joint(k, joints, 4) * DEG_TO_RAD; + pose->tran.x = cos(c) * cos(b) * (x - dx - k->config.x_rot_point) + sin(c) * (y - k->config.y_rot_point) - cos(c) * sin(b) * (z - dz - k->config.z_rot_point) + cos(c) * dx + k->config.x_rot_point; + pose->tran.y = -sin(c) * cos(b) * (x - dx - k->config.x_rot_point) + cos(c) * (y - k->config.y_rot_point) + sin(c) * sin(b) * (z - dz - k->config.z_rot_point) - sin(c) * dx + k->config.y_rot_point; + pose->tran.z = sin(b) * (x - dx - k->config.x_rot_point) + cos(b) * (z - dz - k->config.z_rot_point) + dz + k->config.z_rot_point; + } else if (k->config.type == SIM_KIN_XYZBCW || k->config.type == SIM_KIN_5AXISKINS) { + double radius = k->config.pivot_length + joint(k, joints, 8); + double theta = c; + double phi = (180.0 - joint(k, joints, 4)) * DEG_TO_RAD; + double rx = radius * sin(phi) * cos(theta); + double ry = radius * sin(phi) * sin(theta); + double rz = radius * cos(phi); + pose->tran.x = x + rx; pose->tran.y = y + ry; pose->tran.z = z + k->config.pivot_length + rz; + } else if (k->config.type == SIM_KIN_MAXKINS) { + double pivot_radius = k->config.pivot_length + joint(k, joints, 8); + double zb; + double xb; + double xyr; + double xytheta; + double zv; + double xv; + b = joint(k, joints, 4) * DEG_TO_RAD; + zb = pivot_radius * cos(b); + xb = pivot_radius * sin(b); + xyr = hypot(x, y); + xytheta = atan2(y, x) + c; + zv = joint(k, joints, 6) * sin(b); + xv = joint(k, joints, 6) * cos(b); + pose->tran.x = xyr * cos(xytheta) + xb - xv; + pose->tran.y = xyr * sin(xytheta) - joint(k, joints, 7); + pose->tran.z = z - zb + zv + k->config.pivot_length; + } else if (k->config.type == SIM_KIN_ROTATEKINS) { + pose->tran.x = x * cos(-c) - y * sin(-c); + pose->tran.y = x * sin(-c) + y * cos(-c); + pose->tran.z = z; + } else return SIM_KIN_ERR_UNKNOWN_TYPE; + set_optional_axes(k, joints, pose); + return sim_kinematics_validate_pose(pose); +} + +int sim_kinematics_forward(const sim_kinematics *k, const double *joints, uint32_t joint_count, sim_posemath_pose *pose) { + return sim_kinematics_forward_ex(k, joints, joint_count, 0, pose, 0); +} + +static void set_joint(double *joints, const sim_kinematics *k, int axis, double value) { + int index = config_axis(k, axis); + if (index >= 0) joints[index] = value; +} + +static void fill_duplicate_joints(const sim_kinematics *k, double *joints) { + uint32_t index; + for (index = 0; index < kinematics_joint_count(&k->config); ++index) { + int axis = axis_index((char)(k->config.coordinates[index] >= 'a' && k->config.coordinates[index] <= 'z' ? k->config.coordinates[index] - 'a' + 'A' : k->config.coordinates[index])); + if (axis >= 0) joints[index] = joints[config_axis(k, axis)]; + } +} + +int sim_kinematics_inverse_ex(sim_kinematics *k, const sim_posemath_pose *pose, uint32_t joint_count, + uint64_t forward_flags, double *joints, + sim_kinematics_result_info *info) { + double a, b, c; + initialize_info(info, forward_flags, 0); + if (k == 0 || pose == 0 || joints == 0) return SIM_KIN_ERR_ARGUMENT; + if (!k->configured || joint_count != kinematics_joint_count(&k->config)) return SIM_KIN_ERR_CONFIGURATION; + if (effective_mode(&k->config) == SIM_KIN_MODE_FORWARD_ONLY) return SIM_KIN_ERR_UNSUPPORTED; + if (sim_kinematics_validate_pose(pose) != SIM_KIN_OK) return SIM_KIN_ERR_NONFINITE; + memset(joints, 0, sizeof(double) * joint_count); + if (k->config.type == SIM_KIN_TRIVKINS) { + set_joint(joints, k, 0, pose->tran.x); set_joint(joints, k, 1, pose->tran.y); set_joint(joints, k, 2, pose->tran.z); + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); set_joint(joints, k, 6, pose->u); set_joint(joints, k, 7, pose->v); set_joint(joints, k, 8, pose->w); + } else if (k->config.type == SIM_KIN_SCARA) { + uint32_t branch = 0; + int result = scara_inverse(k, pose, joints, forward_flags, &branch); + if (info != 0) info->branch_id = branch; + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_SCORBOT) { + int result = scorbot_inverse(k, pose, joints); + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_PUMA) { + uint32_t branch = 0; + int result = puma_inverse(k, pose, joints, forward_flags, &branch); + if (info != 0) info->branch_id = branch; + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_GENSER) { + return genser_inverse(k, pose, joints, k->config.max_iterations, k->config.convergence_tolerance, info); + } else if (k->config.type == SIM_KIN_LINEAR_DELTA) { + uint32_t branch = 0; + int result = linear_delta_inverse(k, pose, forward_flags, joints, &branch); + if (info != 0) { info->branch_id = branch; info->iterations = 0; info->residual = 0.0; } + if (result == SIM_KIN_OK) k->branch_id = branch; + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_ROTARY_DELTA) { + uint32_t branch = 0; + int result = rotary_delta_inverse(k, pose, forward_flags, joints, &branch); + if (info != 0) { info->branch_id = branch; info->iterations = 0; info->residual = 0.0; } + if (result == SIM_KIN_OK) k->branch_id = branch; + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_TRIPOD) { + uint32_t branch = 0; + int result = tripod_inverse(k, pose, joints, &branch); + if (info != 0) { info->forward_flags = branch; info->branch_id = branch; info->iterations = 0; info->residual = 0.0; } + if (result == SIM_KIN_OK) k->branch_id = branch; + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_GENHEX) { + int result = genhex_inverse(k, pose, joints); + if (info != 0) { info->forward_flags = pose->tran.z < 0.0 ? SIM_KIN_GENHEX_ALTERNATE_SEED : 0; info->branch_id = pose->tran.z < 0.0 ? 1U : 0U; info->iterations = 0; info->residual = 0.0; } + if (result == SIM_KIN_OK) k->branch_id = pose->tran.z < 0.0 ? 1U : 0U; + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_PENTAPOD) { + int result = pentapod_inverse(k, pose, joints); + if (info != 0) { info->forward_flags = pose->tran.z < 0.0 ? SIM_KIN_GENHEX_ALTERNATE_SEED : 0; info->branch_id = pose->tran.z < 0.0 ? 1U : 0U; info->iterations = 0; info->residual = 0.0; } + if (result == SIM_KIN_OK) k->branch_id = pose->tran.z < 0.0 ? 1U : 0U; + return result == SIM_KIN_OK ? in_limits(k, joints) : result; + } else if (k->config.type == SIM_KIN_COREXY) { + set_joint(joints, k, 0, pose->tran.x + pose->tran.y); + set_joint(joints, k, 1, pose->tran.x - pose->tran.y); + set_joint(joints, k, 2, pose->tran.z); + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 4, pose->b); + set_joint(joints, k, 5, pose->c); set_joint(joints, k, 6, pose->u); + set_joint(joints, k, 7, pose->v); set_joint(joints, k, 8, pose->w); + } else if (k->config.type == SIM_KIN_ROSE) { + uint32_t quadrant; + double theta; + double bigtheta; + if (pose->tran.x >= 0.0 && pose->tran.y >= 0.0) quadrant = 1; + else if (pose->tran.x < 0.0 && pose->tran.y >= 0.0) quadrant = 2; + else if (pose->tran.x < 0.0 && pose->tran.y < 0.0) quadrant = 3; + else quadrant = 4; + if (k->previous_quadrant == 2 && quadrant == 3) k->revolution_count += 1; + if (k->previous_quadrant == 3 && quadrant == 2) k->revolution_count -= 1; + theta = atan2(pose->tran.y, pose->tran.x); + bigtheta = theta + 2.0 * 3.14159265358979323846264338327950288 * k->revolution_count; + set_joint(joints, k, 0, hypot(pose->tran.x, pose->tran.y)); + set_joint(joints, k, 1, pose->tran.z); + set_joint(joints, k, 2, bigtheta * RAD_TO_DEG); + k->previous_quadrant = quadrant; + k->branch_id = (uint32_t)k->revolution_count; + if (info != 0) info->branch_id = k->branch_id; + } else if (k->config.type == SIM_KIN_XYZAC_TRT) { + double dy = k->config.y_offset; + double dz = k->config.z_offset + k->config.tool_offset; + a = pose->a * DEG_TO_RAD; c = pose->c * DEG_TO_RAD; + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 5, pose->c); + set_joint(joints, k, 0, cos(c) * (pose->tran.x - k->config.x_rot_point) - sin(c) * (pose->tran.y - k->config.y_rot_point) + k->config.x_rot_point); + set_joint(joints, k, 1, sin(c) * cos(a) * (pose->tran.x - k->config.x_rot_point) + cos(c) * cos(a) * (pose->tran.y - k->config.y_rot_point) - sin(a) * (pose->tran.z - k->config.z_rot_point) - cos(a) * dy + sin(a) * dz + dy + k->config.y_rot_point); + set_joint(joints, k, 2, sin(c) * sin(a) * (pose->tran.x - k->config.x_rot_point) + cos(c) * sin(a) * (pose->tran.y - k->config.y_rot_point) + cos(a) * (pose->tran.z - k->config.z_rot_point) - sin(a) * dy - cos(a) * dz + dz + k->config.z_rot_point); + } else if (k->config.type == SIM_KIN_XYZBC_TRT) { + double dx = k->config.x_offset; + double dz = k->config.z_offset + k->config.tool_offset; + b = pose->b * DEG_TO_RAD; c = pose->c * DEG_TO_RAD; + if (fabs(cos(b)) < 1e-12) return SIM_KIN_ERR_SINGULAR; + set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); + set_joint(joints, k, 0, cos(c) * cos(b) * (pose->tran.x - k->config.x_rot_point) - sin(c) * cos(b) * (pose->tran.y - k->config.y_rot_point) + sin(b) * (pose->tran.z - k->config.z_rot_point) - cos(b) * dx - sin(b) * dz + dx + k->config.x_rot_point); + set_joint(joints, k, 1, sin(c) * (pose->tran.x - k->config.x_rot_point) + cos(c) * (pose->tran.y - k->config.y_rot_point) + k->config.y_rot_point); + set_joint(joints, k, 2, -cos(c) * sin(b) * (pose->tran.x - k->config.x_rot_point) + sin(c) * sin(b) * (pose->tran.y - k->config.y_rot_point) + cos(b) * (pose->tran.z - k->config.z_rot_point) + sin(b) * dx - cos(b) * dz + dz + k->config.z_rot_point); + } else if (k->config.type == SIM_KIN_XYZBCW || k->config.type == SIM_KIN_5AXISKINS) { + double radius = k->config.pivot_length + pose->w; + double phi = (180.0 - pose->b) * DEG_TO_RAD; + double theta = pose->c * DEG_TO_RAD; + set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); set_joint(joints, k, 8, pose->w); + set_joint(joints, k, 0, pose->tran.x - radius * sin(phi) * cos(theta)); + set_joint(joints, k, 1, pose->tran.y - radius * sin(phi) * sin(theta)); + set_joint(joints, k, 2, pose->tran.z - k->config.pivot_length - radius * cos(phi)); + } else if (k->config.type == SIM_KIN_MAXKINS) { + double pivot_radius = k->config.pivot_length + pose->w; + double zb; + double xb; + double xyr; + double xytheta; + double zv; + double xv; + b = pose->b * DEG_TO_RAD; + c = pose->c * DEG_TO_RAD; + zb = pivot_radius * cos(b); + xb = pivot_radius * sin(b); + xyr = hypot(pose->tran.x, pose->tran.y); + xytheta = atan2(pose->tran.y, pose->tran.x) - c; + zv = pose->u * sin(b); + xv = pose->u * cos(b); + set_joint(joints, k, 0, xyr * cos(xytheta) - xb + xv); + set_joint(joints, k, 1, xyr * sin(xytheta) + pose->v); + set_joint(joints, k, 2, pose->tran.z + zb + zv - k->config.pivot_length); + set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); + set_joint(joints, k, 8, pose->w); + } else if (k->config.type == SIM_KIN_ROTATEKINS) { + c = pose->c * DEG_TO_RAD; + set_joint(joints, k, 0, pose->tran.x * cos(c) - pose->tran.y * sin(c)); + set_joint(joints, k, 1, pose->tran.x * sin(c) + pose->tran.y * cos(c)); + set_joint(joints, k, 2, pose->tran.z); + set_joint(joints, k, 4, pose->b); set_joint(joints, k, 5, pose->c); + set_joint(joints, k, 8, pose->w); + } else return SIM_KIN_ERR_UNKNOWN_TYPE; + set_joint(joints, k, 3, pose->a); set_joint(joints, k, 6, pose->u); set_joint(joints, k, 7, pose->v); + fill_duplicate_joints(k, joints); + return in_limits(k, joints); +} + +int sim_kinematics_inverse(sim_kinematics *k, const sim_posemath_pose *pose, double *joints, uint32_t joint_count) { + return sim_kinematics_inverse_ex(k, pose, joint_count, 0, joints, 0); +} + +int sim_kinematics_home(const sim_kinematics *k, double *joints, uint32_t joint_count, sim_posemath_pose *pose) { + if (k == 0 || joints == 0 || pose == 0) return SIM_KIN_ERR_ARGUMENT; + if (!k->configured || joint_count != kinematics_joint_count(&k->config)) return SIM_KIN_ERR_CONFIGURATION; + memset(joints, 0, sizeof(double) * joint_count); + if (k->config.type == SIM_KIN_XYZBCW || k->config.type == SIM_KIN_5AXISKINS) joints[config_axis(k, 8)] = 0.0; + if (k->config.type == SIM_KIN_TRIPOD) { + double z = 1.0; + joints[config_axis(k, 0)] = z; + joints[config_axis(k, 1)] = hypot(k->config.tripod_bx, z); + joints[config_axis(k, 2)] = hypot(hypot(k->config.tripod_cx, k->config.tripod_cy), z); + } + if (k->config.type == SIM_KIN_GENHEX) { + sim_posemath_pose seed = {0}; + seed.tran.z = k->config.genhex_initial_pose[2]; + if (sim_kinematics_inverse((sim_kinematics *)k, &seed, joints, joint_count) != SIM_KIN_OK) return SIM_KIN_ERR_RANGE; + } + if (k->config.type == SIM_KIN_PENTAPOD) { + sim_posemath_pose seed = {0}; + seed.tran.x = k->config.penta_initial_pose[0]; seed.tran.y = k->config.penta_initial_pose[1]; seed.tran.z = k->config.penta_initial_pose[2]; seed.a = k->config.penta_initial_pose[3] * RAD_TO_DEG; seed.b = k->config.penta_initial_pose[4] * RAD_TO_DEG; + if (sim_kinematics_inverse((sim_kinematics *)k, &seed, joints, joint_count) != SIM_KIN_OK) return SIM_KIN_ERR_RANGE; + } + return sim_kinematics_forward(k, joints, joint_count, pose); +} + +uint64_t sim_kinematics_state_hash(const sim_kinematics *k, const double *joints, uint32_t joint_count, const sim_posemath_pose *pose) { + unsigned char bytes[sizeof(sim_kinematics_config) + sizeof(double) * SIM_KIN_MAX_JOINTS + sizeof(sim_posemath_pose) + sizeof(int32_t) + sizeof(uint32_t) * 2]; + double normalized_joints[SIM_KIN_MAX_JOINTS] = {0}; + sim_posemath_pose normalized_pose; + size_t offset = 0; + if (k == 0 || joints == 0 || pose == 0 || joint_count > SIM_KIN_MAX_JOINTS) return 0; + for (size_t index = 0; index < joint_count; ++index) normalized_joints[index] = hash_normalize(joints[index]); + normalized_pose = *pose; + normalized_pose.tran.x = hash_normalize(normalized_pose.tran.x); normalized_pose.tran.y = hash_normalize(normalized_pose.tran.y); normalized_pose.tran.z = hash_normalize(normalized_pose.tran.z); + normalized_pose.a = hash_normalize(normalized_pose.a); normalized_pose.b = hash_normalize(normalized_pose.b); normalized_pose.c = hash_normalize(normalized_pose.c); + normalized_pose.u = hash_normalize(normalized_pose.u); normalized_pose.v = hash_normalize(normalized_pose.v); normalized_pose.w = hash_normalize(normalized_pose.w); + memcpy(bytes + offset, &k->config, sizeof(k->config)); offset += sizeof(k->config); + memcpy(bytes + offset, normalized_joints, sizeof(double) * joint_count); offset += sizeof(double) * joint_count; + memcpy(bytes + offset, &normalized_pose, sizeof(normalized_pose)); offset += sizeof(normalized_pose); + memcpy(bytes + offset, &k->revolution_count, sizeof(k->revolution_count)); offset += sizeof(k->revolution_count); + memcpy(bytes + offset, &k->previous_quadrant, sizeof(k->previous_quadrant)); offset += sizeof(k->previous_quadrant); + memcpy(bytes + offset, &k->branch_id, sizeof(k->branch_id)); offset += sizeof(k->branch_id); + return fnv1a64(bytes, offset); +} diff --git a/wasm-core/src/sim_motion_queue.c b/wasm-core/src/sim_motion_queue.c new file mode 100644 index 0000000..3b65150 --- /dev/null +++ b/wasm-core/src/sim_motion_queue.c @@ -0,0 +1,154 @@ +#include "sim_motion_queue.h" + +#include +#include +#include + +static uint64_t 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_config(double cycle_time, double velocity_limit) { + return isfinite(cycle_time) && isfinite(velocity_limit) && cycle_time > 0.0 && cycle_time <= 60.0 && velocity_limit >= 0.0 && velocity_limit <= 1e9; +} + +static double segment_length(const sim_posemath_segment *segment) { + const double dx = segment->end.tran.x - segment->start.tran.x; + const double dy = segment->end.tran.y - segment->start.tran.y; + const double dz = segment->end.tran.z - segment->start.tran.z; + double value = dx * dx + dy * dy + dz * dz; + return isfinite(value) && value > 0.0 ? sqrt(value) : 0.0; +} + +static int poses_match(const sim_posemath_pose *left, const sim_posemath_pose *right) { + const double *a = &left->tran.x; + const double *b = &right->tran.x; + size_t index; + for (index = 0; index < 9; ++index) if (fabs(a[index] - b[index]) > 1e-12) return 0; + return 1; +} + +static void zero_state(sim_motion_state *state) { + memset(state, 0, sizeof(*state)); + state->status = SIM_MOTION_OK; +} + +int sim_motion_reset(sim_motion_queue *queue) { + if (queue == 0) return SIM_MOTION_ERR_ARGUMENT; + queue->head = 0; queue->count = 0; queue->next_id = 1; queue->tick = 0; + zero_state(&queue->state); + return SIM_MOTION_OK; +} + +int sim_motion_init(sim_motion_queue *queue, double cycle_time, double velocity_limit) { + if (queue == 0) return SIM_MOTION_ERR_ARGUMENT; + if (!valid_config(cycle_time, velocity_limit)) return SIM_MOTION_ERR_RANGE; + queue->cycle_time = cycle_time; queue->velocity_limit = velocity_limit; + return sim_motion_reset(queue); +} + +int sim_motion_enqueue(sim_motion_queue *queue, const sim_motion_command *command, uint32_t *id_out) { + uint32_t index; + int result; + if (queue == 0 || command == 0) return SIM_MOTION_ERR_ARGUMENT; + result = sim_posemath_segment_validate(&command->segment); + if (result == SIM_POSEMATH_ERR_MOTION_TYPE) return SIM_MOTION_ERR_MOTION_TYPE; + if (result != SIM_POSEMATH_OK) return result == SIM_POSEMATH_ERR_NONFINITE ? SIM_MOTION_ERR_NONFINITE : SIM_MOTION_ERR_GEOMETRY; + if (queue->count >= SIM_MOTION_QUEUE_CAPACITY) return SIM_MOTION_ERR_CAPACITY; + if (command->segment.velocity > queue->velocity_limit) return SIM_MOTION_ERR_RANGE; + if (queue->count > 0) { + index = (queue->head + queue->count - 1) % SIM_MOTION_QUEUE_CAPACITY; + if (!poses_match(&queue->commands[index].segment.end, &command->segment.start)) return SIM_MOTION_ERR_STATE; + } else if (queue->state.tick > 0 && !poses_match(&queue->state.position, &command->segment.start)) { + return SIM_MOTION_ERR_STATE; + } + index = (queue->head + queue->count) % SIM_MOTION_QUEUE_CAPACITY; + queue->commands[index] = *command; + queue->commands[index].id = queue->next_id++; + if (id_out != 0) *id_out = queue->commands[index].id; + queue->count++; + return SIM_MOTION_OK; +} + +int sim_motion_step(sim_motion_queue *queue) { + sim_motion_command *command; + double length; + double delta; + int result; + if (queue == 0) return SIM_MOTION_ERR_ARGUMENT; + if (queue->count == 0) { queue->tick++; queue->state.tick = queue->tick; queue->state.status = SIM_MOTION_ERR_STATE; return SIM_MOTION_ERR_STATE; } + command = &queue->commands[queue->head]; + length = segment_length(&command->segment); + if (length <= 0.0) { queue->state.status = SIM_MOTION_ERR_GEOMETRY; return queue->state.status; } + queue->state.active_id = command->id; queue->state.active_tag = command->tag; queue->state.motion_type = command->segment.motion_type; + delta = command->segment.velocity * queue->cycle_time / length; + if (!isfinite(delta) || delta < 0.0) { queue->state.status = SIM_MOTION_ERR_NONFINITE; return queue->state.status; } + queue->state.progress += delta; + if (queue->state.progress >= 1.0) { + queue->state.progress = 1.0; + result = sim_posemath_segment_point(&command->segment, 1.0, &queue->state.position); + if (result != SIM_POSEMATH_OK) { queue->state.status = SIM_MOTION_ERR_GEOMETRY; return queue->state.status; } + queue->head = (queue->head + 1) % SIM_MOTION_QUEUE_CAPACITY; + queue->count--; + queue->state.progress = 0.0; + queue->state.active_id = 0; + queue->state.active_tag = 0; + queue->state.motion_type = 0; + } else { + result = sim_posemath_segment_point(&command->segment, queue->state.progress, &queue->state.position); + if (result != SIM_POSEMATH_OK) { queue->state.status = SIM_MOTION_ERR_GEOMETRY; return queue->state.status; } + } + queue->state.velocity = command->segment.velocity; + queue->tick++; + queue->state.tick = queue->tick; + queue->state.queue_depth = queue->count; + queue->state.status = SIM_MOTION_OK; + return SIM_MOTION_OK; +} + +int sim_motion_read_state(const sim_motion_queue *queue, sim_motion_state *state) { + if (queue == 0 || state == 0) return SIM_MOTION_ERR_ARGUMENT; + *state = queue->state; + state->queue_depth = queue->count; + return SIM_MOTION_OK; +} + +uint32_t sim_motion_queue_depth(const sim_motion_queue *queue) { + return queue == 0 ? 0 : queue->count; +} + +uint64_t sim_motion_state_hash(const sim_motion_queue *queue) { + sim_motion_state state; + unsigned char bytes[sizeof(sim_motion_state)]; + if (sim_motion_read_state(queue, &state) != SIM_MOTION_OK) return 0; + memset(bytes, 0, sizeof(bytes)); + memcpy(bytes, &state.position, sizeof(state.position)); + memcpy(bytes + sizeof(state.position), &state.velocity, sizeof(double)); + memcpy(bytes + sizeof(state.position) + sizeof(double), &state.progress, sizeof(double)); + memcpy(bytes + sizeof(state.position) + sizeof(double) * 2, &state.tick, sizeof(uint32_t)); + memcpy(bytes + sizeof(state.position) + sizeof(double) * 2 + sizeof(uint32_t), &state.queue_depth, sizeof(uint32_t)); + memcpy(bytes + sizeof(state.position) + sizeof(double) * 2 + sizeof(uint32_t) * 2, &state.active_id, sizeof(uint32_t)); + memcpy(bytes + sizeof(state.position) + sizeof(double) * 2 + sizeof(uint32_t) * 3, &state.active_tag, sizeof(uint32_t)); + memcpy(bytes + sizeof(state.position) + sizeof(double) * 2 + sizeof(uint32_t) * 4, &state.motion_type, sizeof(int)); + memcpy(bytes + sizeof(state.position) + sizeof(double) * 2 + sizeof(uint32_t) * 4 + sizeof(int), &state.status, sizeof(int)); + return fnv1a64(bytes, sizeof(state.position) + sizeof(double) * 2 + sizeof(uint32_t) * 4 + sizeof(int) * 2); +} + +uint32_t sim_motion_canonical(const sim_motion_queue *queue, char *output, uint32_t capacity) { + sim_motion_state state; + char discard[1]; + char *destination = output == 0 ? discard : output; + uint32_t destination_capacity = output == 0 ? 1 : capacity; + int written; + if (sim_motion_read_state(queue, &state) != SIM_MOTION_OK) return 0; + written = snprintf(destination, destination_capacity, + "{\"active_id\":%u,\"active_tag\":%u,\"motion_type\":%d,\"position\":{\"x\":%.17g,\"y\":%.17g,\"z\":%.17g},\"progress\":%.17g,\"queue_depth\":%u,\"status\":%d,\"tick\":%u,\"velocity\":%.17g}", + state.active_id, state.active_tag, state.motion_type, state.position.tran.x, state.position.tran.y, state.position.tran.z, + state.progress, state.queue_depth, state.status, state.tick, state.velocity); + if (written < 0) return 0; + if (output == 0 || capacity <= (uint32_t)written) return (uint32_t)written + 1; + return (uint32_t)written + 1; +} diff --git a/wasm-core/src/sim_posemath.c b/wasm-core/src/sim_posemath.c index aabef67..aa87338 100644 --- a/wasm-core/src/sim_posemath.c +++ b/wasm-core/src/sim_posemath.c @@ -3,11 +3,25 @@ #include "posemath.h" #include +#include +#include static int finite_cart(const sim_posemath_cartesian *value) { return value != 0 && isfinite(value->x) && isfinite(value->y) && isfinite(value->z); } +static int finite_pose(const sim_posemath_pose *value) { + return value != 0 && finite_cart(&value->tran) && isfinite(value->a) && + isfinite(value->b) && isfinite(value->c) && isfinite(value->u) && + isfinite(value->v) && isfinite(value->w); +} + +static int finite_segment(const sim_posemath_segment *value) { + return value != 0 && finite_pose(&value->start) && finite_pose(&value->end) && + finite_cart(&value->center) && finite_cart(&value->normal) && + isfinite(value->velocity) && isfinite(value->acceleration); +} + static PmCartesian to_pm(const sim_posemath_cartesian *value) { PmCartesian result = {value->x, value->y, value->z}; return result; @@ -27,7 +41,8 @@ int sim_posemath_normalize(const sim_posemath_cartesian *input, sim_posemath_car PmCartesian source; PmCartesian result; double magnitude_squared = 0.0; - if (!finite_cart(input) || output == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (input == 0 || output == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (!finite_cart(input)) return SIM_POSEMATH_ERR_NONFINITE; source = to_pm(input); if (pmCartMagSq(&source, &magnitude_squared) != 0 || !isfinite(magnitude_squared)) return SIM_POSEMATH_ERR_NONFINITE; if (magnitude_squared <= 1e-24) return SIM_POSEMATH_ERR_DEGENERATE; @@ -39,7 +54,8 @@ int sim_posemath_normalize(const sim_posemath_cartesian *input, sim_posemath_car int sim_posemath_dot(const sim_posemath_cartesian *left, const sim_posemath_cartesian *right, double *output) { PmCartesian lhs; PmCartesian rhs; - if (!finite_cart(left) || !finite_cart(right) || output == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (left == 0 || right == 0 || output == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (!finite_cart(left) || !finite_cart(right)) return SIM_POSEMATH_ERR_NONFINITE; lhs = to_pm(left); rhs = to_pm(right); if (pmCartCartDot(&lhs, &rhs, output) != 0 || !isfinite(*output)) return SIM_POSEMATH_ERR_NONFINITE; @@ -52,11 +68,206 @@ int sim_posemath_line_point(const sim_posemath_cartesian *start, const sim_posem PmCartesian finish; PmCartesian result; PmCartesian delta; - if (!finite_cart(start) || !finite_cart(end) || output == 0) return SIM_POSEMATH_ERR_ARGUMENT; - if (!isfinite(fraction) || fraction < 0.0 || fraction > 1.0) return SIM_POSEMATH_ERR_RANGE; + double magnitude_squared = 0.0; + if (start == 0 || end == 0 || output == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (!finite_cart(start) || !finite_cart(end) || !isfinite(fraction)) return SIM_POSEMATH_ERR_NONFINITE; + if (fraction < 0.0 || fraction > 1.0) return SIM_POSEMATH_ERR_RANGE; begin = to_pm(start); finish = to_pm(end); - if (pmCartCartSub(&finish, &begin, &delta) != 0 || pmCartScalMult(&delta, fraction, &delta) != 0 || pmCartCartAdd(&begin, &delta, &result) != 0) return SIM_POSEMATH_ERR_DEGENERATE; + if (pmCartCartSub(&finish, &begin, &delta) != 0) return SIM_POSEMATH_ERR_DEGENERATE; + if (pmCartMagSq(&delta, &magnitude_squared) != 0 || !isfinite(magnitude_squared)) return SIM_POSEMATH_ERR_NONFINITE; + if (magnitude_squared <= 1e-24) return SIM_POSEMATH_ERR_DEGENERATE; + if (pmCartScalMult(&delta, fraction, &delta) != 0 || pmCartCartAdd(&begin, &delta, &result)) return SIM_POSEMATH_ERR_DEGENERATE; + if (!isfinite(result.x) || !isfinite(result.y) || !isfinite(result.z)) return SIM_POSEMATH_ERR_NONFINITE; from_pm(&result, output); return SIM_POSEMATH_OK; } + +static int finite_pose_value(const sim_posemath_pose *value) { + return finite_pose(value); +} + +int sim_posemath_pose_is_finite(const sim_posemath_pose *value) { + return finite_pose_value(value); +} + +int sim_posemath_pose_line_point(const sim_posemath_pose *start, const sim_posemath_pose *end, + double fraction, sim_posemath_pose *output) { + if (start == 0 || end == 0 || output == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (!finite_pose_value(start) || !finite_pose_value(end) || !isfinite(fraction)) return SIM_POSEMATH_ERR_NONFINITE; + if (fraction < 0.0 || fraction > 1.0) return SIM_POSEMATH_ERR_RANGE; + output->tran.x = start->tran.x + (end->tran.x - start->tran.x) * fraction; + output->tran.y = start->tran.y + (end->tran.y - start->tran.y) * fraction; + output->tran.z = start->tran.z + (end->tran.z - start->tran.z) * fraction; + output->a = start->a + (end->a - start->a) * fraction; + output->b = start->b + (end->b - start->b) * fraction; + output->c = start->c + (end->c - start->c) * fraction; + output->u = start->u + (end->u - start->u) * fraction; + output->v = start->v + (end->v - start->v) * fraction; + output->w = start->w + (end->w - start->w) * fraction; + return finite_pose_value(output) ? SIM_POSEMATH_OK : SIM_POSEMATH_ERR_NONFINITE; +} + +int sim_posemath_segment_validate(const sim_posemath_segment *segment) { + double length_sq; + double normal_sq; + if (segment == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (!finite_segment(segment)) return SIM_POSEMATH_ERR_NONFINITE; + if (segment->motion_type < SIM_POSEMATH_LINEAR || segment->motion_type > SIM_POSEMATH_SPHERICAL) return SIM_POSEMATH_ERR_MOTION_TYPE; + if (segment->velocity < 0.0 || segment->acceleration < 0.0 || segment->velocity > 1e9 || segment->acceleration > 1e12) return SIM_POSEMATH_ERR_RANGE; + length_sq = (segment->end.tran.x - segment->start.tran.x) * (segment->end.tran.x - segment->start.tran.x) + + (segment->end.tran.y - segment->start.tran.y) * (segment->end.tran.y - segment->start.tran.y) + + (segment->end.tran.z - segment->start.tran.z) * (segment->end.tran.z - segment->start.tran.z); + if (!isfinite(length_sq) || length_sq <= 1e-24) return SIM_POSEMATH_ERR_DEGENERATE; + if (segment->motion_type == SIM_POSEMATH_CIRCULAR) { + normal_sq = segment->normal.x * segment->normal.x + segment->normal.y * segment->normal.y + segment->normal.z * segment->normal.z; + if (!isfinite(normal_sq) || normal_sq <= 1e-24) return SIM_POSEMATH_ERR_DEGENERATE; + if (segment->turn < -1000000 || segment->turn > 1000000) return SIM_POSEMATH_ERR_RANGE; + } + return SIM_POSEMATH_OK; +} + +int sim_posemath_segment_point(const sim_posemath_segment *segment, double fraction, + sim_posemath_pose *output) { + int result = sim_posemath_segment_validate(segment); + if (result != SIM_POSEMATH_OK) return result; + if (output == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (!isfinite(fraction)) return SIM_POSEMATH_ERR_NONFINITE; + if (fraction < 0.0 || fraction > 1.0) return SIM_POSEMATH_ERR_RANGE; + if (segment->motion_type != SIM_POSEMATH_CIRCULAR) + return sim_posemath_pose_line_point(&segment->start, &segment->end, fraction, output); + { + PmCartesian start = to_pm(&segment->start.tran); + PmCartesian end = to_pm(&segment->end.tran); + PmCartesian center = to_pm(&segment->center); + PmCartesian normal = to_pm(&segment->normal); + PmCircle circle; + PmCartesian point; + if (pmCircleInit(&circle, &start, &end, ¢er, &normal, segment->turn) != 0) return SIM_POSEMATH_ERR_DEGENERATE; + if (pmCirclePoint(&circle, circle.angle * fraction, &point) != 0) return SIM_POSEMATH_ERR_DEGENERATE; + output->tran.x = point.x; output->tran.y = point.y; output->tran.z = point.z; + output->a = segment->start.a + (segment->end.a - segment->start.a) * fraction; + output->b = segment->start.b + (segment->end.b - segment->start.b) * fraction; + output->c = segment->start.c + (segment->end.c - segment->start.c) * fraction; + output->u = segment->start.u + (segment->end.u - segment->start.u) * fraction; + output->v = segment->start.v + (segment->end.v - segment->start.v) * fraction; + output->w = segment->start.w + (segment->end.w - segment->start.w) * fraction; + return finite_pose_value(output) ? SIM_POSEMATH_OK : SIM_POSEMATH_ERR_NONFINITE; + } +} + +static uint64_t fnv1a64(const unsigned char *bytes, size_t length) { + uint64_t hash = UINT64_C(1469598103934665603); + size_t index; + for (index = 0; index < length; ++index) { + hash ^= (uint64_t)bytes[index]; + hash *= UINT64_C(1099511628211); + } + return hash; +} + +uint64_t sim_posemath_hash_state(const sim_tp_state *state) { + unsigned char bytes[sizeof(double) * 11 + sizeof(uint32_t) * 3 + sizeof(int) * 2]; + size_t offset = 0; + const double *doubles; + const uint32_t *uints; + const int *ints; + size_t index; + if (state == 0) return 0; + doubles = (const double *)&state->position; + for (index = 0; index < 11; ++index) { + memcpy(bytes + offset, doubles + index, sizeof(double)); + offset += sizeof(double); + } + uints = &state->tick; + for (index = 0; index < 3; ++index) { + memcpy(bytes + offset, uints + index, sizeof(uint32_t)); + offset += sizeof(uint32_t); + } + ints = &state->motion_type; + for (index = 0; index < 2; ++index) { + memcpy(bytes + offset, ints + index, sizeof(int)); + offset += sizeof(int); + } + return fnv1a64(bytes, offset); +} + +static int valid_tp_config(double cycle_time, double velocity_limit, double acceleration_limit) { + return isfinite(cycle_time) && isfinite(velocity_limit) && isfinite(acceleration_limit) && + cycle_time > 0.0 && cycle_time <= 60.0 && velocity_limit >= 0.0 && velocity_limit <= 1e9 && + acceleration_limit >= 0.0 && acceleration_limit <= 1e12; +} + +int sim_tp_reset(sim_tp *tp) { + if (tp == 0) return SIM_POSEMATH_ERR_ARGUMENT; + tp->head = 0; tp->count = 0; tp->next_id = 1; tp->active_id = 0; tp->tick = 0; + tp->progress = 0.0; tp->current_velocity = 0.0; tp->motion_type = 0; tp->status = SIM_POSEMATH_OK; + tp->position.tran.x = 0.0; tp->position.tran.y = 0.0; tp->position.tran.z = 0.0; + tp->position.a = tp->position.b = tp->position.c = tp->position.u = tp->position.v = tp->position.w = 0.0; + return SIM_POSEMATH_OK; +} + +int sim_tp_init(sim_tp *tp, double cycle_time, double velocity_limit, double acceleration_limit) { + if (tp == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (!valid_tp_config(cycle_time, velocity_limit, acceleration_limit)) return SIM_POSEMATH_ERR_RANGE; + tp->cycle_time = cycle_time; tp->velocity_limit = velocity_limit; tp->acceleration_limit = acceleration_limit; + return sim_tp_reset(tp); +} + +int sim_tp_enqueue(sim_tp *tp, const sim_posemath_segment *segment, uint32_t *id_out) { + uint32_t index; + int result; + if (tp == 0 || segment == 0) return SIM_POSEMATH_ERR_ARGUMENT; + result = sim_posemath_segment_validate(segment); + if (result != SIM_POSEMATH_OK) return result; + if (tp->count >= SIM_TP_QUEUE_CAPACITY) return SIM_POSEMATH_ERR_CAPACITY; + if (segment->velocity > tp->velocity_limit || segment->acceleration > tp->acceleration_limit) return SIM_POSEMATH_ERR_RANGE; + index = (tp->head + tp->count) % SIM_TP_QUEUE_CAPACITY; + tp->queue[index] = *segment; tp->ids[index] = tp->next_id++; + if (id_out != 0) *id_out = tp->ids[index]; + tp->count++; + return SIM_POSEMATH_OK; +} + +int sim_tp_step(sim_tp *tp) { + sim_posemath_segment *segment; + double length_sq; + double step; + int result; + if (tp == 0) return SIM_POSEMATH_ERR_ARGUMENT; + if (tp->count == 0) { tp->tick++; tp->status = SIM_POSEMATH_ERR_STATE; return SIM_POSEMATH_ERR_STATE; } + segment = &tp->queue[tp->head]; + result = sim_posemath_segment_validate(segment); + if (result != SIM_POSEMATH_OK) { tp->status = result; return result; } + if (tp->active_id == 0) { tp->active_id = tp->ids[tp->head]; tp->motion_type = segment->motion_type; } + length_sq = (segment->end.tran.x - segment->start.tran.x) * (segment->end.tran.x - segment->start.tran.x) + + (segment->end.tran.y - segment->start.tran.y) * (segment->end.tran.y - segment->start.tran.y) + + (segment->end.tran.z - segment->start.tran.z) * (segment->end.tran.z - segment->start.tran.z); + step = segment->velocity * tp->cycle_time / sqrt(length_sq); + if (!isfinite(step) || step < 0.0) { tp->status = SIM_POSEMATH_ERR_NONFINITE; return tp->status; } + if (step < 1e-15) step = 1e-15; + tp->progress += step; + if (tp->progress >= 1.0) { + tp->progress = 1.0; + result = sim_posemath_segment_point(segment, tp->progress, &tp->position); + tp->head = (tp->head + 1) % SIM_TP_QUEUE_CAPACITY; tp->count--; tp->active_id = 0; tp->motion_type = 0; tp->progress = 0.0; + } else { + result = sim_posemath_segment_point(segment, tp->progress, &tp->position); + } + tp->current_velocity = segment->velocity; tp->tick++; tp->status = result; + return result; +} + +int sim_tp_read_state(const sim_tp *tp, sim_tp_state *state) { + if (tp == 0 || state == 0) return SIM_POSEMATH_ERR_ARGUMENT; + state->position = tp->position; state->velocity = tp->current_velocity; state->progress = tp->progress; + state->tick = tp->tick; state->queue_depth = tp->count; state->active_id = tp->active_id; + state->motion_type = tp->motion_type; state->status = tp->status; + return SIM_POSEMATH_OK; +} + +uint64_t sim_tp_state_hash(const sim_tp *tp) { + sim_tp_state state; + if (sim_tp_read_state(tp, &state) != SIM_POSEMATH_OK) return 0; + return sim_posemath_hash_state(&state); +} diff --git a/wasm-core/tests/sim_hal_test.c b/wasm-core/tests/sim_hal_test.c index c72733b..4537f6a 100644 --- a/wasm-core/tests/sim_hal_test.c +++ b/wasm-core/tests/sim_hal_test.c @@ -1,8 +1,16 @@ #include "sim_hal.h" #include +#include -int main(void) { +static float get_float(const char *name) { + sim_hal_value value = {0}; + assert(sim_hal_get_pin(name, &value) == SIM_HAL_OK); + assert(value.type == SIM_HAL_FLOAT); + return value.value.real; +} + +int sim_hal_test_run(void) { sim_hal_value bit = {SIM_HAL_BIT, {.bit = 1}}; sim_hal_value wrong = {SIM_HAL_S32, {.s32 = 1}}; sim_hal_value out = {0}; @@ -25,5 +33,27 @@ int main(void) { assert(sim_hal_step(1) == SIM_HAL_ERR_FUNCTION); assert(sim_hal_tick() == 5); assert(sim_hal_register_thread("invalid", 0) == SIM_HAL_ERR_RANGE); + + sim_hal_reset(); + assert(sim_hal_register_thread("servo-thread", 1) == SIM_HAL_OK); + assert(sim_hal_register_corexy_by_hal("corexy_by_hal", "servo-thread") == SIM_HAL_OK); + assert(sim_hal_set_pin("corexy_by_hal.j0-motor-pos-cmd", (sim_hal_value){SIM_HAL_FLOAT, {.real = 6.0f}}) == SIM_HAL_OK); + assert(sim_hal_set_pin("corexy_by_hal.j1-motor-pos-cmd", (sim_hal_value){SIM_HAL_FLOAT, {.real = 2.0f}}) == SIM_HAL_OK); + assert(sim_hal_set_pin("corexy_by_hal.alpha-fb", (sim_hal_value){SIM_HAL_FLOAT, {.real = 4.0f}}) == SIM_HAL_OK); + assert(sim_hal_set_pin("corexy_by_hal.beta-fb", (sim_hal_value){SIM_HAL_FLOAT, {.real = 1.0f}}) == SIM_HAL_OK); + assert(sim_hal_step(1) == SIM_HAL_OK); + assert(get_float("corexy_by_hal.alpha-cmd") == 4.0f); + assert(get_float("corexy_by_hal.beta-cmd") == 2.0f); + assert(get_float("corexy_by_hal.j0-motor-pos-fb") == 5.0f); + assert(get_float("corexy_by_hal.j1-motor-pos-fb") == 3.0f); + assert(sim_hal_function_calls("corexy_by_hal") == 1); + assert(sim_hal_corexy_transform("missing") == SIM_HAL_ERR_NOT_FOUND); + assert(sim_hal_register_corexy_by_hal("corexy_by_hal", "servo-thread") == SIM_HAL_ERR_DUPLICATE); + printf("{\"schema\":\"hal-corexy-sample.v1\",\"command\":{\"j0\":%.3f,\"j1\":%.3f,\"alpha\":%.3f,\"beta\":%.3f},\"feedback\":{\"alpha\":%.3f,\"beta\":%.3f,\"j0\":%.3f,\"j1\":%.3f},\"tick\":%u,\"function_calls\":%u}\n", + (double)get_float("corexy_by_hal.j0-motor-pos-cmd"), (double)get_float("corexy_by_hal.j1-motor-pos-cmd"), + (double)get_float("corexy_by_hal.alpha-cmd"), (double)get_float("corexy_by_hal.beta-cmd"), + (double)get_float("corexy_by_hal.alpha-fb"), (double)get_float("corexy_by_hal.beta-fb"), + (double)get_float("corexy_by_hal.j0-motor-pos-fb"), (double)get_float("corexy_by_hal.j1-motor-pos-fb"), + sim_hal_tick(), sim_hal_function_calls("corexy_by_hal")); return 0; } diff --git a/wasm-core/tests/sim_hal_test_main.c b/wasm-core/tests/sim_hal_test_main.c new file mode 100644 index 0000000..089f0b5 --- /dev/null +++ b/wasm-core/tests/sim_hal_test_main.c @@ -0,0 +1,5 @@ +int sim_hal_test_run(void); + +int main(void) { + return sim_hal_test_run(); +} diff --git a/wasm-core/tests/sim_interpreter_test.c b/wasm-core/tests/sim_interpreter_test.c new file mode 100644 index 0000000..33e49bb --- /dev/null +++ b/wasm-core/tests/sim_interpreter_test.c @@ -0,0 +1,36 @@ +#include "sim_interpreter.h" + +#include +#include +#include + +int main(void) { + sim_interpreter interpreter = {0}; + sim_interpreter_state state = {0}; + sim_interpreter_state second = {0}; + char canonical[SIM_INTERPRETER_CANONICAL_CAPACITY] = {0}; + uint32_t required; + + assert(sim_interpreter_init(&interpreter) == SIM_INTERP_OK); + assert(sim_interpreter_execute(&interpreter, "G21 G90 G1 X10 Y2 F120", (uint32_t)(sizeof("G21 G90 G1 X10 Y2 F120") - 1)) == SIM_INTERP_OK); + assert(sim_interpreter_read_state(&interpreter, &state) == SIM_INTERP_OK); + assert(state.x == 10.0 && state.y == 2.0 && state.feed == 120.0); + required = sim_interpreter_canonical(&interpreter, canonical, sizeof(canonical)); + assert(required > 1 && canonical[required - 1] == '\0'); + assert(sim_interpreter_state_hash(&interpreter) != 0); + assert(sim_interpreter_execute(&interpreter, "G91 X1 (increment)", (uint32_t)(sizeof("G91 X1 (increment)") - 1)) == SIM_INTERP_OK); + assert(sim_interpreter_read_state(&interpreter, &second) == SIM_INTERP_OK); + assert(second.x == 11.0 && second.line == state.line + 1); + assert(sim_interpreter_execute(&interpreter, "G20 X1", 6) == SIM_INTERP_OK); + assert(fabs(interpreter.state.x - 36.4) < 1e-12); + assert(sim_interpreter_execute(&interpreter, "X1 G90 G21", (uint32_t)(sizeof("X1 G90 G21") - 1)) == SIM_INTERP_OK); + assert(interpreter.state.x == 1.0); + assert(sim_interpreter_execute(&interpreter, "G1 G0 X1", 8) == SIM_INTERP_ERR_STATE); + assert(sim_interpreter_execute(&interpreter, "G999", 4) == SIM_INTERP_ERR_UNKNOWN_CODE); + assert(sim_interpreter_execute(&interpreter, "Xnan", 4) == SIM_INTERP_ERR_SYNTAX); + assert(sim_interpreter_execute(&interpreter, "G1 X1 X2", 8) == SIM_INTERP_ERR_STATE); + assert(sim_interpreter_execute(&interpreter, "M2", 2) == SIM_INTERP_OK); + assert(interpreter.state.program_end == 1); + assert(sim_interpreter_execute(&interpreter, "G1 X0", (uint32_t)(sizeof("G1 X0") - 1)) == SIM_INTERP_ERR_STATE); + return 0; +} diff --git a/wasm-core/tests/sim_kinematics_test.c b/wasm-core/tests/sim_kinematics_test.c new file mode 100644 index 0000000..ed54dba --- /dev/null +++ b/wasm-core/tests/sim_kinematics_test.c @@ -0,0 +1,585 @@ +#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); + config.pivot_length = 250.0; + config.limit_enabled[0] = 1; config.joint_min[0] = -1000; config.joint_max[0] = 1000; + return config; +} + +static void round_trip(sim_kinematics *kinematics, const double *input, uint32_t count) { + double joints[SIM_KIN_MAX_JOINTS] = {0}; + sim_posemath_pose pose = {0}; + sim_posemath_pose repeat = {0}; + assert(sim_kinematics_forward(kinematics, input, count, &pose) == SIM_KIN_OK); + assert(sim_kinematics_inverse(kinematics, &pose, joints, count) == SIM_KIN_OK); + assert(sim_kinematics_forward(kinematics, joints, count, &repeat) == SIM_KIN_OK); + assert(fabs(pose.tran.x - repeat.tran.x) < 1e-9); + assert(fabs(pose.tran.y - repeat.tran.y) < 1e-9); + assert(fabs(pose.tran.z - repeat.tran.z) < 1e-9); + assert(sim_kinematics_state_hash(kinematics, joints, count, &repeat) == sim_kinematics_state_hash(kinematics, joints, count, &repeat)); +} + +static double canonical(double value) { + return fabs(value) < 5e-10 ? 0.0 : value; +} + +static void emit_coupled_samples(void) { + sim_kinematics kinematics = {0}; + sim_kinematics_config config; + sim_posemath_pose pose = {0}; + double output[SIM_KIN_MAX_JOINTS] = {0}; + double corexy_pose[3]; + double corexy_joints[3]; + double rose_pose[3]; + double rose_joints[3]; + double max_pose[3]; + double max_joints[6]; + double rotate_pose[3]; + double rotate_joints[6]; + double fiveaxis_pose[3]; + double fiveaxis_joints[7]; + double xyzac_pose[3]; + double xyzac_joints[5]; + double xyzbc_pose[3]; + double xyzbc_joints[5]; + double scara_pose[3]; + double scara_joints[6]; + double puma_pose[3]; + double puma_joints[6]; + double scorbot_pose[3]; + double scorbot_joints[5]; + double genser_pose[3]; + double genser_joints[6]; + double ldelta_pose[3]; + double ldelta_joints[3]; + double rdelta_pose[3]; + double rdelta_joints[3]; + double tripod_pose[3]; + double tripod_joints[3]; + double genhex_pose[6]; + double genhex_joints[6]; + double penta_pose[5]; + double penta_joints[5]; + uint32_t rose_branch; + uint64_t corexy_hash; + uint64_t rose_hash; + uint64_t max_hash; + uint64_t rotate_hash; + uint64_t fiveaxis_hash; + uint64_t xyzac_hash; + uint64_t xyzbc_hash; + uint64_t scara_hash; + uint64_t puma_hash; + uint64_t scorbot_hash; + uint64_t genser_hash; + uint64_t ldelta_hash; + uint64_t rdelta_hash; + uint64_t tripod_hash; + uint64_t genhex_hash; + uint64_t penta_hash; + uint32_t ldelta_branch; + uint32_t ldelta_alt_branch; + uint32_t rdelta_branch; + uint32_t rdelta_alt_branch; + int ldelta_no_solution; + int ldelta_limit_error; + int rdelta_singular; + int ldelta_alt_status; + int rdelta_alt_status; + int ldelta_geometry_status; + int rdelta_geometry_status; + int tripod_no_solution; + int tripod_singular; + int tripod_limit_error; + int tripod_geometry_status; + uint32_t tripod_branch; + uint32_t tripod_alt_branch; + int tripod_alt_status; + int genhex_nonpositive; + int genhex_iter_limit_error; + int genhex_max_error_status; + int genhex_singular; + int genhex_limit_error; + int genhex_alt_status; + uint32_t genhex_branch; + uint32_t genhex_alt_branch; + uint32_t genhex_iterations; + double genhex_residual; + int penta_nonpositive; + int penta_iter_limit_error; + int penta_max_error_status; + int penta_singular; + int penta_limit_error; + int penta_alt_status; + uint32_t penta_branch; + uint32_t penta_alt_branch; + uint32_t penta_iterations; + double penta_residual; + sim_posemath_pose tripod_alt_pose = {0}; + sim_posemath_pose genhex_alt_pose = {0}; + sim_posemath_pose penta_alt_pose = {0}; + uint32_t ldelta_iterations; + uint32_t rdelta_iterations; + sim_posemath_pose ldelta_alt_pose = {0}; + sim_posemath_pose rdelta_alt_pose = {0}; + sim_posemath_pose mapping_pose = {0}; + sim_kinematics_result_info delta_info = {0}; + sim_kinematics_result_info genser_info = {0}; + + config = config_for(SIM_KIN_COREXY, "XYZ"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){6, 2, 3}, 3, &pose) == SIM_KIN_OK); + corexy_pose[0] = canonical(pose.tran.x); corexy_pose[1] = canonical(pose.tran.y); corexy_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 3) == SIM_KIN_OK); + memcpy(corexy_joints, output, sizeof(corexy_joints)); + corexy_hash = sim_kinematics_state_hash(&kinematics, output, 3, &pose); + + config = config_for(SIM_KIN_ROSE, "XYZ"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){2, 7, 170}, 3, &pose) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 3) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){2, 7, 190}, 3, &pose) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 3) == SIM_KIN_OK); + rose_pose[0] = canonical(pose.tran.x); rose_pose[1] = canonical(pose.tran.y); rose_pose[2] = canonical(pose.tran.z); + memcpy(rose_joints, output, sizeof(rose_joints)); + rose_branch = kinematics.branch_id; + rose_hash = sim_kinematics_state_hash(&kinematics, output, 3, &pose); + + config = config_for(SIM_KIN_MAXKINS, "XYZABC"); + config.pivot_length = 0.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){3, 4, 5, 0, 30, 90}, 6, &pose) == SIM_KIN_OK); + max_pose[0] = canonical(pose.tran.x); max_pose[1] = canonical(pose.tran.y); max_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse_ex(&kinematics, &pose, 6, 0, output, &genser_info) == SIM_KIN_OK); + memcpy(max_joints, output, sizeof(max_joints)); + max_hash = sim_kinematics_state_hash(&kinematics, output, 6, &pose); + + config = config_for(SIM_KIN_ROTATEKINS, "XYZABC"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){3, 4, 5, 0, 0, 90}, 6, &pose) == SIM_KIN_OK); + rotate_pose[0] = canonical(pose.tran.x); rotate_pose[1] = canonical(pose.tran.y); rotate_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 6) == SIM_KIN_OK); + memcpy(rotate_joints, output, sizeof(rotate_joints)); + rotate_hash = sim_kinematics_state_hash(&kinematics, output, 6, &pose); + + config = config_for(SIM_KIN_5AXISKINS, "XYZBCWY"); + config.pivot_length = 250.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){10, 20, 30, 35, 40, -2, 20}, 7, &pose) == SIM_KIN_OK); + fiveaxis_pose[0] = canonical(pose.tran.x); fiveaxis_pose[1] = canonical(pose.tran.y); fiveaxis_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 7) == SIM_KIN_OK); + memcpy(fiveaxis_joints, output, sizeof(fiveaxis_joints)); + fiveaxis_hash = sim_kinematics_state_hash(&kinematics, output, 7, &pose); + + config = config_for(SIM_KIN_XYZAC_TRT, "XYZAC"); + config.x_rot_point = 20.0; config.y_offset = 3.0; config.tool_offset = 100.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){100, 50, 200, 30, 45}, 5, &pose) == SIM_KIN_OK); + xyzac_pose[0] = canonical(pose.tran.x); xyzac_pose[1] = canonical(pose.tran.y); xyzac_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 5) == SIM_KIN_OK); + memcpy(xyzac_joints, output, sizeof(xyzac_joints)); + xyzac_hash = sim_kinematics_state_hash(&kinematics, output, 5, &pose); + + config = config_for(SIM_KIN_XYZBC_TRT, "XYZBC"); + config.x_offset = 5.0; config.z_offset = 2.0; config.tool_offset = 50.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){100, 50, 200, 30, 45}, 5, &pose) == SIM_KIN_OK); + xyzbc_pose[0] = canonical(pose.tran.x); xyzbc_pose[1] = canonical(pose.tran.y); xyzbc_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 5) == SIM_KIN_OK); + memcpy(xyzbc_joints, output, sizeof(xyzbc_joints)); + xyzbc_hash = sim_kinematics_state_hash(&kinematics, output, 5, &pose); + + config = config_for(SIM_KIN_SCARA, "XYZCAB"); + config.scara_d1 = 490.0; config.scara_d2 = 340.0; config.scara_d3 = 50.0; config.scara_d4 = 250.0; config.scara_d5 = 50.0; config.scara_d6 = 50.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){30, -40, 25, 15, 5, -3}, 6, &pose) == SIM_KIN_OK); + scara_pose[0] = canonical(pose.tran.x); scara_pose[1] = canonical(pose.tran.y); scara_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 6) == SIM_KIN_OK); + memcpy(scara_joints, output, sizeof(scara_joints)); scara_hash = sim_kinematics_state_hash(&kinematics, output, 6, &pose); + + config = config_for(SIM_KIN_PUMA, "XYZABC"); + config.puma_a2 = 400.0; config.puma_a3 = 50.0; config.puma_d3 = 100.0; config.puma_d4 = 400.0; config.puma_d6 = 95.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){10, 20, -30, 40, 25, -15}, 6, &pose) == SIM_KIN_OK); + puma_pose[0] = canonical(pose.tran.x); puma_pose[1] = canonical(pose.tran.y); puma_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 6) == SIM_KIN_OK); + memcpy(puma_joints, output, sizeof(puma_joints)); puma_hash = sim_kinematics_state_hash(&kinematics, output, 6, &pose); + + config = config_for(SIM_KIN_SCORBOT, "XYZAB"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){25, 35, -20, 10, -5}, 5, &pose) == SIM_KIN_OK); + scorbot_pose[0] = canonical(pose.tran.x); scorbot_pose[1] = canonical(pose.tran.y); scorbot_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 5) == SIM_KIN_OK); + memcpy(scorbot_joints, output, sizeof(scorbot_joints)); scorbot_hash = sim_kinematics_state_hash(&kinematics, output, 5, &pose); + + config = config_for(SIM_KIN_GENSER, "XYZABC"); + config.dh_joint_count = 6; + config.max_iterations = 200; + config.convergence_tolerance = 1e-7; + config.dh_a[0] = 0.0; config.dh_a[1] = 85.0; config.dh_a[2] = 380.0; config.dh_a[3] = 100.0; + config.dh_alpha[0] = 0.0; config.dh_alpha[1] = -1.5707963267948966; config.dh_alpha[2] = 0.0; config.dh_alpha[3] = -1.5707963267948966; config.dh_alpha[4] = 1.5707963267948966; config.dh_alpha[5] = -1.5707963267948966; + config.dh_d[0] = 350.0; config.dh_d[1] = 0.0; config.dh_d[2] = 0.0; config.dh_d[3] = 425.0; config.dh_d[4] = 0.0; config.dh_d[5] = 235.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){0, 10, -20, 30, 15, -10}, 6, &pose) == SIM_KIN_OK); + genser_pose[0] = canonical(pose.tran.x); genser_pose[1] = canonical(pose.tran.y); genser_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 6) == SIM_KIN_OK); + memcpy(genser_joints, output, sizeof(genser_joints)); genser_hash = sim_kinematics_state_hash(&kinematics, output, 6, &pose); + + config = config_for(SIM_KIN_LINEAR_DELTA, "XYZ"); + config.joint_count = 4; + config.kinematics_joint_count = 3; + config.extra_joint_count = 1; + config.delta_radius = 130.25; config.delta_rod_length = 269.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward_ex(&kinematics, (double[]){300, 300, 300}, 3, 0, &pose, &delta_info) == SIM_KIN_OK); + ldelta_branch = delta_info.branch_id; ldelta_iterations = delta_info.iterations; + ldelta_pose[0] = canonical(pose.tran.x); ldelta_pose[1] = canonical(pose.tran.y); ldelta_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_forward_ex(&kinematics, (double[]){300, 300, 300}, 3, SIM_KIN_DELTA_ALTERNATE_ROOT, &ldelta_alt_pose, &delta_info) == SIM_KIN_OK); + ldelta_alt_status = SIM_KIN_OK; ldelta_alt_branch = delta_info.branch_id; + assert(sim_kinematics_inverse(&kinematics, &pose, output, 3) == SIM_KIN_OK); + memcpy(ldelta_joints, output, sizeof(ldelta_joints)); ldelta_hash = sim_kinematics_state_hash(&kinematics, output, 3, &pose); + ldelta_no_solution = sim_kinematics_inverse(&kinematics, &(sim_posemath_pose){.tran = {1000.0, 0.0, 0.0}}, output, 3); + config.limit_enabled[0] = 1; config.joint_min[0] = -10.0; config.joint_max[0] = 10.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + ldelta_limit_error = sim_kinematics_inverse(&kinematics, &pose, output, 3); + config.limit_enabled[0] = 0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + config.delta_radius = 0.0; config.delta_rod_length = 269.0; + ldelta_geometry_status = sim_kinematics_init(&kinematics, &config); + config.delta_radius = 130.25; config.delta_rod_length = 269.0; + + config = config_for(SIM_KIN_ROTARY_DELTA, "XYZ"); + config.rotary_platform_radius = 10.0; config.rotary_thigh_length = 10.0; config.rotary_shin_length = 14.0; config.rotary_foot_radius = 6.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward_ex(&kinematics, (double[]){10, 10, 10}, 3, 0, &pose, &delta_info) == SIM_KIN_OK); + rdelta_branch = delta_info.branch_id; rdelta_iterations = delta_info.iterations; + rdelta_pose[0] = canonical(pose.tran.x); rdelta_pose[1] = canonical(pose.tran.y); rdelta_pose[2] = canonical(pose.tran.z); + assert(sim_kinematics_forward_ex(&kinematics, (double[]){10, 10, 10}, 3, SIM_KIN_DELTA_ALTERNATE_ROOT, &rdelta_alt_pose, &delta_info) == SIM_KIN_OK); + rdelta_alt_status = SIM_KIN_OK; rdelta_alt_branch = delta_info.branch_id; + assert(sim_kinematics_inverse(&kinematics, &pose, output, 3) == SIM_KIN_OK); + memcpy(rdelta_joints, output, sizeof(rdelta_joints)); rdelta_hash = sim_kinematics_state_hash(&kinematics, output, 3, &pose); + rdelta_singular = sim_kinematics_inverse(&kinematics, &(sim_posemath_pose){.tran = {0.0, 0.0, 0.0}}, output, 3); + config.rotary_platform_radius = 0.0; + rdelta_geometry_status = sim_kinematics_init(&kinematics, &config); + + /* Non-default coordinate order must use the same axis-to-joint mapping + * in rotary Delta inverse as it does in forward. */ + config = config_for(SIM_KIN_ROTARY_DELTA, "YZX"); + config.rotary_platform_radius = 10.0; config.rotary_thigh_length = 10.0; config.rotary_shin_length = 14.0; config.rotary_foot_radius = 6.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){10, 20, 30}, 3, &pose) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &pose, output, 3) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, output, 3, &mapping_pose) == SIM_KIN_OK); + assert(fabs(pose.tran.x - mapping_pose.tran.x) < 1e-9); + assert(fabs(pose.tran.y - mapping_pose.tran.y) < 1e-9); + assert(fabs(pose.tran.z - mapping_pose.tran.z) < 1e-9); + + config = config_for(SIM_KIN_TRIPOD, "XYZ"); + config.tripod_bx = 10.0; config.tripod_cx = 5.0; config.tripod_cy = 7.071; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_inverse_ex(&kinematics, &(sim_posemath_pose){.tran = {2.0, 3.0, 4.0}}, 3, 0, output, &delta_info) == SIM_KIN_OK); + memcpy(tripod_joints, output, sizeof(tripod_joints)); + assert(sim_kinematics_forward_ex(&kinematics, output, 3, 0, &pose, &delta_info) == SIM_KIN_OK); + tripod_branch = delta_info.branch_id; + tripod_pose[0] = canonical(pose.tran.x); tripod_pose[1] = canonical(pose.tran.y); tripod_pose[2] = canonical(pose.tran.z); + tripod_hash = sim_kinematics_state_hash(&kinematics, output, 3, &pose); + assert(sim_kinematics_forward_ex(&kinematics, output, 3, SIM_KIN_TRIPOD_BELOW_ROOT, &tripod_alt_pose, &delta_info) == SIM_KIN_OK); + tripod_alt_status = SIM_KIN_OK; tripod_alt_branch = delta_info.branch_id; + tripod_no_solution = sim_kinematics_forward(&kinematics, (double[]){1.0, 1.0, 20.0}, 3, &pose); + assert(sim_kinematics_inverse(&kinematics, &(sim_posemath_pose){.tran = {2.0, 3.0, 0.0}}, output, 3) == SIM_KIN_OK); + tripod_singular = sim_kinematics_forward(&kinematics, output, 3, &pose); + 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); + tripod_limit_error = sim_kinematics_inverse(&kinematics, &(sim_posemath_pose){.tran = {2.0, 3.0, 4.0}}, output, 3); + config.limit_enabled[0] = 0; + config.tripod_bx = 0.0; + tripod_geometry_status = sim_kinematics_init(&kinematics, &config); + config.tripod_bx = 10.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_home(&kinematics, output, 3, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.z - 1.0) < 1e-9); + + config = config_for(SIM_KIN_GENHEX, "XYZABC"); + config.genhex_initial_pose[2] = 50.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_inverse_ex(&kinematics, &(sim_posemath_pose){.tran = {10.0, -5.0, 60.0}, .a = 5.0, .b = -3.0, .c = 10.0}, 6, 0, output, &genser_info) == SIM_KIN_OK); + memcpy(genhex_joints, output, sizeof(genhex_joints)); + assert(sim_kinematics_forward_ex(&kinematics, output, 6, 0, &pose, &genser_info) == SIM_KIN_OK); + genhex_pose[0] = canonical(pose.tran.x); genhex_pose[1] = canonical(pose.tran.y); genhex_pose[2] = canonical(pose.tran.z); + genhex_pose[3] = canonical(pose.a); genhex_pose[4] = canonical(pose.b); genhex_pose[5] = canonical(pose.c); + genhex_iterations = genser_info.iterations; genhex_residual = genser_info.residual; genhex_branch = genser_info.branch_id; + genhex_hash = sim_kinematics_state_hash(&kinematics, output, 6, &pose); + genhex_alt_status = sim_kinematics_forward_ex(&kinematics, output, 6, SIM_KIN_GENHEX_ALTERNATE_SEED, &genhex_alt_pose, &genser_info); + genhex_alt_branch = genser_info.branch_id; + genhex_nonpositive = sim_kinematics_forward(&kinematics, (double[]){0.0, 1.0, 1.0, 1.0, 1.0, 1.0}, 6, &pose); + config.genhex_iteration_limit = 1; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + genhex_iter_limit_error = sim_kinematics_forward(&kinematics, genhex_joints, 6, &pose); + config.genhex_iteration_limit = 120; config.genhex_max_error = 0.000001; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + genhex_max_error_status = sim_kinematics_forward(&kinematics, genhex_joints, 6, &pose); + config.genhex_max_error = 500.0; 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); + genhex_limit_error = sim_kinematics_inverse(&kinematics, &(sim_posemath_pose){.tran = {10.0, -5.0, 60.0}, .a = 5.0, .b = -3.0, .c = 10.0}, output, 6); + config.limit_enabled[0] = 0; + config.genhex_base[0][0] = 1.0; config.genhex_base[0][1] = 0.0; config.genhex_base[0][2] = 0.0; + config.genhex_platform[0][0] = 0.0; config.genhex_platform[0][1] = 1.0; config.genhex_platform[0][2] = 0.0; + for (int duplicate = 1; duplicate < 6; ++duplicate) { + memcpy(config.genhex_base[duplicate], config.genhex_base[0], sizeof(config.genhex_base[0])); + memcpy(config.genhex_platform[duplicate], config.genhex_platform[0], sizeof(config.genhex_platform[0])); + } + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + 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); + 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_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); + 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_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); + + printf("{\"schema\":\"kinematics-coupled-samples.v1\"," + "\"corexy\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"rose\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f],\"branch\":%u,\"state_hash\":%llu}," + "\"maxkins\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"rotatekins\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"fiveaxiskins\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"xyzac_trt\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"xyzbc_trt\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"scara\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"puma\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"scorbot\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"genser\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu,\"iterations\":%u,\"residual\":%.12f}," + "\"lineardelta\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"rotarydelta\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"tripod\":{\"pose\":[%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f],\"state_hash\":%llu}," + "\"genhex\":{\"pose\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu,\"iterations\":%u,\"residual\":%.12f}," + "\"pentapod\":{\"pose\":[%.9f,%.9f,%.9f,%.9f,%.9f],\"inverse\":[%.9f,%.9f,%.9f,%.9f,%.9f],\"state_hash\":%llu,\"iterations\":%u,\"residual\":%.12f}," + "\"delta_edges\":{\"lineardelta\":{\"alternate_status\":%d,\"alternate_branch\":%u,\"alternate_pose\":[%.9f,%.9f,%.9f],\"no_solution\":%d,\"limit_error\":%d,\"geometry_error\":%d,\"branch\":%u,\"iterations\":%u}," + "\"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", + 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, + rotate_pose[0], rotate_pose[1], rotate_pose[2], rotate_joints[0], rotate_joints[1], rotate_joints[2], rotate_joints[3], rotate_joints[4], rotate_joints[5], (unsigned long long)rotate_hash, + fiveaxis_pose[0], fiveaxis_pose[1], fiveaxis_pose[2], fiveaxis_joints[0], fiveaxis_joints[1], fiveaxis_joints[2], fiveaxis_joints[3], fiveaxis_joints[4], fiveaxis_joints[5], fiveaxis_joints[6], (unsigned long long)fiveaxis_hash, + xyzac_pose[0], xyzac_pose[1], xyzac_pose[2], xyzac_joints[0], xyzac_joints[1], xyzac_joints[2], xyzac_joints[3], xyzac_joints[4], (unsigned long long)xyzac_hash, + xyzbc_pose[0], xyzbc_pose[1], xyzbc_pose[2], xyzbc_joints[0], xyzbc_joints[1], xyzbc_joints[2], xyzbc_joints[3], xyzbc_joints[4], (unsigned long long)xyzbc_hash, + scara_pose[0], scara_pose[1], scara_pose[2], scara_joints[0], scara_joints[1], scara_joints[2], scara_joints[3], scara_joints[4], scara_joints[5], (unsigned long long)scara_hash, + puma_pose[0], puma_pose[1], puma_pose[2], puma_joints[0], puma_joints[1], puma_joints[2], puma_joints[3], puma_joints[4], puma_joints[5], (unsigned long long)puma_hash, + scorbot_pose[0], scorbot_pose[1], scorbot_pose[2], scorbot_joints[0], scorbot_joints[1], scorbot_joints[2], scorbot_joints[3], scorbot_joints[4], (unsigned long long)scorbot_hash, + genser_pose[0], genser_pose[1], genser_pose[2], genser_joints[0], genser_joints[1], genser_joints[2], genser_joints[3], genser_joints[4], genser_joints[5], (unsigned long long)genser_hash, genser_info.iterations, genser_info.residual, + ldelta_pose[0], ldelta_pose[1], ldelta_pose[2], ldelta_joints[0], ldelta_joints[1], ldelta_joints[2], (unsigned long long)ldelta_hash, + rdelta_pose[0], rdelta_pose[1], rdelta_pose[2], rdelta_joints[0], rdelta_joints[1], rdelta_joints[2], (unsigned long long)rdelta_hash, + tripod_pose[0], tripod_pose[1], tripod_pose[2], tripod_joints[0], tripod_joints[1], tripod_joints[2], (unsigned long long)tripod_hash, + genhex_pose[0], genhex_pose[1], genhex_pose[2], genhex_pose[3], genhex_pose[4], genhex_pose[5], genhex_joints[0], genhex_joints[1], genhex_joints[2], genhex_joints[3], genhex_joints[4], genhex_joints[5], (unsigned long long)genhex_hash, genhex_iterations, genhex_residual, + penta_pose[0], penta_pose[1], penta_pose[2], penta_pose[3], penta_pose[4], penta_joints[0], penta_joints[1], penta_joints[2], penta_joints[3], penta_joints[4], (unsigned long long)penta_hash, penta_iterations, penta_residual, + ldelta_alt_status, ldelta_alt_branch, ldelta_alt_pose.tran.x, ldelta_alt_pose.tran.y, ldelta_alt_pose.tran.z, ldelta_no_solution, ldelta_limit_error, ldelta_geometry_status, ldelta_branch, ldelta_iterations, + 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); +} + +int sim_kinematics_test_run(void) { + sim_kinematics kinematics = {0}; + sim_kinematics_config config = config_for(SIM_KIN_TRIVKINS, "XYZABCUVW"); + double joints[9] = {10, 20, 30, 4, 5, 6, 7, 8, 9}; + sim_posemath_pose pose = {0}; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, joints, 9); + + config = config_for(SIM_KIN_TRIVKINS, "xyyz"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){1, 2, 3, 4}, 4, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.x - 1.0) < 1e-12); + assert(fabs(pose.tran.y - 2.0) < 1e-12); + assert(fabs(pose.tran.z - 4.0) < 1e-12); + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 4) == SIM_KIN_OK); + /* Duplicate Y maps to the first Y joint deterministically. */ + assert(fabs(joints[1] - joints[2]) < 1e-12); + assert(sim_kinematics_state_hash(&kinematics, joints, 4, &pose) == sim_kinematics_state_hash(&kinematics, joints, 4, &pose)); + + config = config_for(SIM_KIN_TRIVKINS, "XYZ"); + config.limit_enabled[1] = 1; config.joint_min[1] = -2.0; config.joint_max[1] = 2.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){0, 3, 0}, 3, &pose) == SIM_KIN_ERR_RANGE); + assert(sim_kinematics_home(&kinematics, joints, 3, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.x) < 1e-12 && fabs(pose.tran.y) < 1e-12 && fabs(pose.tran.z) < 1e-12); + + /* Extra joints are configured but are not passed to kinematics. */ + config = config_for(SIM_KIN_TRIVKINS, "XYZ"); + config.joint_count = 4; + config.kinematics_joint_count = 3; + config.extra_joint_count = 1; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){1, 2, 3}, 3, &pose) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){1, 2, 3, 99}, 4, &pose) == SIM_KIN_ERR_CONFIGURATION); + assert(sim_kinematics_home(&kinematics, joints, 3, &pose) == SIM_KIN_OK); + + config = config_for(SIM_KIN_TRIVKINS, "XYZ"); + config.mode = SIM_KIN_MODE_FORWARD_ONLY; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 3) == SIM_KIN_ERR_UNSUPPORTED); + config.mode = SIM_KIN_MODE_INVERSE_ONLY; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){1, 2, 3}, 3, &pose) == SIM_KIN_ERR_UNSUPPORTED); + + config.mode = SIM_KIN_MODE_BOTH; + config.max_iterations = 25; + config.convergence_tolerance = 1e-10; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + { + sim_kinematics_result_info info = {0}; + assert(sim_kinematics_forward_ex(&kinematics, (double[]){1, 2, 3}, 3, 7, &pose, &info) == SIM_KIN_OK); + assert(info.inverse_flags == 7); + assert(sim_kinematics_inverse_ex(&kinematics, &pose, 3, 9, joints, &info) == SIM_KIN_OK); + assert(info.forward_flags == 9); + } + + config = config_for(SIM_KIN_XYZAC_TRT, "XYZAC"); + config.x_rot_point = 20; config.y_offset = 3; config.tool_offset = 100; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + joints[0] = 100; joints[1] = 50; joints[2] = 200; joints[3] = 30; joints[4] = 45; + round_trip(&kinematics, joints, 5); + + config = config_for(SIM_KIN_XYZBC_TRT, "XYZBC"); + config.x_offset = 5; config.z_offset = 2; config.tool_offset = 50; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + joints[0] = 100; joints[1] = 50; joints[2] = 200; joints[3] = 30; joints[4] = 45; + round_trip(&kinematics, joints, 5); + + config = config_for(SIM_KIN_XYZBCW, "XYZBCW"); + config.pivot_length = 250; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + joints[0] = 10; joints[1] = 20; joints[2] = 30; joints[3] = 35; joints[4] = 40; joints[5] = -2; + round_trip(&kinematics, joints, 6); + + assert(sim_kinematics_forward(&kinematics, (double[]){NAN, 0, 0, 0, 0, 0}, 6, &pose) == SIM_KIN_ERR_NONFINITE); + config.type = 99; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_UNKNOWN_TYPE); + config = config_for(SIM_KIN_XYZBC_TRT, "XYZBC"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + pose.a = 0; pose.b = 90; pose.c = 0; + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 5) == SIM_KIN_ERR_SINGULAR); + + config = config_for(SIM_KIN_COREXY, "XYZ"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){6, 2, 3}, 3, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.x - 4.0) < 1e-12 && fabs(pose.tran.y - 2.0) < 1e-12); + round_trip(&kinematics, (double[]){6, 2, 3}, 3); + config = config_for(SIM_KIN_COREXY, "YZ"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_CONFIGURATION); + + { + sim_kinematics second = {0}; + sim_posemath_pose q2 = {{-1.0, 0.1, 7.0}, 0, 0, 0, 0, 0, 0}; + sim_posemath_pose q3 = {{-1.0, -0.1, 7.0}, 0, 0, 0, 0, 0, 0}; + uint64_t first_hash; + config = config_for(SIM_KIN_ROSE, "XYZ"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_init(&second, &config) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &q2, joints, 3) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &q3, joints, 3) == SIM_KIN_OK); + assert(kinematics.revolution_count == 1 && joints[2] > 180.0 && joints[2] < 190.0); + first_hash = sim_kinematics_state_hash(&kinematics, joints, 3, &q3); + assert(sim_kinematics_inverse(&kinematics, &q3, joints, 3) == SIM_KIN_OK); + assert(first_hash == sim_kinematics_state_hash(&kinematics, joints, 3, &q3)); + assert(sim_kinematics_inverse(&second, &q2, joints + 3, 3) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&second, &q3, joints + 3, 3) == SIM_KIN_OK); + assert(first_hash == sim_kinematics_state_hash(&second, joints + 3, 3, &q3)); + assert(sim_kinematics_inverse(&kinematics, &q2, joints, 3) == SIM_KIN_OK); + assert(kinematics.revolution_count == 0 && joints[2] > 170.0 && joints[2] < 180.0); + config.joint_count = 4; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_CONFIGURATION); + } + + config = config_for(SIM_KIN_MAXKINS, "XYZABC"); + config.pivot_length = 0.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, (double[]){3, 4, 5, 0, 30, 90}, 6); + config.pivot_length = 0.666; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){0, 0, 5, 0, 30, 0}, 6, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.x - 0.333) < 1e-12); + + config = config_for(SIM_KIN_ROTATEKINS, "XYZABC"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, (double[]){3, 4, 5, 0, 0, 90}, 6); + assert(sim_kinematics_forward(&kinematics, (double[]){3, 4, 5, 0, 0, 90}, 6, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.x - 4.0) < 1e-12 && fabs(pose.tran.y + 3.0) < 1e-12); + + config = config_for(SIM_KIN_5AXISKINS, "XYZBCWY"); + config.pivot_length = 250.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, (double[]){10, 20, 30, 35, 40, -2, 20}, 7); + assert(sim_kinematics_forward(&kinematics, (double[]){10, 20, 30, 35, 40, -2, 20}, 7, &pose) == SIM_KIN_OK); + assert(fabs(pose.tran.x - 10.0 - (250.0 - 2.0) * sin((180.0 - 35.0) * 0.017453292519943295769) * cos(40.0 * 0.017453292519943295769)) < 1e-9); + config = config_for(SIM_KIN_5AXISKINS, "XYZBC"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_CONFIGURATION); + + config = config_for(SIM_KIN_SCARA, "XYZCAB"); + config.scara_d1 = 490.0; config.scara_d2 = 340.0; config.scara_d3 = 50.0; config.scara_d4 = 250.0; config.scara_d5 = 50.0; config.scara_d6 = 50.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, (double[]){30, -40, 25, 15, 5, -3}, 6); + assert(sim_kinematics_forward(&kinematics, (double[]){30, -40, 25, 15, 5, -3}, 6, &pose) == SIM_KIN_OK); + assert(fabs(pose.c - 5.0) < 1e-9); + config = config_for(SIM_KIN_SCARA, "XYZC"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_CONFIGURATION); + config = config_for(SIM_KIN_SCARA, "XYZCAB"); + config.scara_d2 = 1.0; config.scara_d4 = 1.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + pose.tran.x = 10.0; pose.tran.y = 0.0; pose.tran.z = 0.0; pose.c = 0.0; + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 6) == SIM_KIN_ERR_RANGE); + + config = config_for(SIM_KIN_PUMA, "XYZABC"); + config.puma_a2 = 400.0; config.puma_a3 = 50.0; config.puma_d3 = 100.0; config.puma_d4 = 400.0; config.puma_d6 = 95.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, (double[]){10, 20, -30, 40, 25, -15}, 6); + pose.tran.x = 0.0; pose.tran.y = 0.0; pose.tran.z = 0.0; pose.a = 0.0; pose.b = 0.0; pose.c = 0.0; + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 6) == SIM_KIN_ERR_RANGE || sim_kinematics_inverse(&kinematics, &pose, joints, 6) == SIM_KIN_ERR_SINGULAR); + + config = config_for(SIM_KIN_SCORBOT, "XYZAB"); + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, (double[]){25, 35, -20, 10, -5}, 5); + pose.tran.x = 1000.0; pose.tran.y = 0.0; pose.tran.z = 0.0; + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 5) == SIM_KIN_ERR_RANGE); + + config = config_for(SIM_KIN_GENSER, "XYZABC"); + config.dh_joint_count = 6; config.max_iterations = 200; config.convergence_tolerance = 1e-7; + config.dh_a[0] = 0.0; config.dh_a[1] = 85.0; config.dh_a[2] = 380.0; config.dh_a[3] = 100.0; + config.dh_alpha[0] = 0.0; config.dh_alpha[1] = -1.5707963267948966; config.dh_alpha[2] = 0.0; config.dh_alpha[3] = -1.5707963267948966; config.dh_alpha[4] = 1.5707963267948966; config.dh_alpha[5] = -1.5707963267948966; + config.dh_d[0] = 350.0; config.dh_d[1] = 0.0; config.dh_d[2] = 0.0; config.dh_d[3] = 425.0; config.dh_d[4] = 0.0; config.dh_d[5] = 235.0; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + round_trip(&kinematics, (double[]){0, 10, -20, 30, 15, -10}, 6); + config.max_iterations = 1; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_OK); + assert(sim_kinematics_forward(&kinematics, (double[]){0, 10, -20, 30, 15, -10}, 6, &pose) == SIM_KIN_OK); + assert(sim_kinematics_inverse(&kinematics, &pose, joints, 6) == SIM_KIN_ERR_SINGULAR); + config.dh_alpha[0] = NAN; + assert(sim_kinematics_init(&kinematics, &config) == SIM_KIN_ERR_NONFINITE); + + emit_coupled_samples(); + return 0; +} diff --git a/wasm-core/tests/sim_kinematics_test_main.c b/wasm-core/tests/sim_kinematics_test_main.c new file mode 100644 index 0000000..45cd81c --- /dev/null +++ b/wasm-core/tests/sim_kinematics_test_main.c @@ -0,0 +1,5 @@ +int sim_kinematics_test_run(void); + +int main(void) { + return sim_kinematics_test_run(); +} diff --git a/wasm-core/tests/sim_motion_queue_test.c b/wasm-core/tests/sim_motion_queue_test.c new file mode 100644 index 0000000..393d290 --- /dev/null +++ b/wasm-core/tests/sim_motion_queue_test.c @@ -0,0 +1,36 @@ +#include "sim_motion_queue.h" + +#include + +static sim_posemath_segment line(double x0, double x1) { + 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}, 1.0, 1.0, SIM_POSEMATH_LINEAR, 0 + }; + return segment; +} + +int main(void) { + sim_motion_queue queue = {0}; + sim_motion_command command = {0}; + sim_motion_state state = {0}; + char canonical[512] = {0}; + uint32_t id = 0; + command.segment = line(0, 1); + command.tag = 42; + assert(sim_motion_init(&queue, 0.1, 10.0) == SIM_MOTION_OK); + assert(sim_motion_enqueue(&queue, &command, &id) == SIM_MOTION_OK && id == 1); + command.segment = line(1, 2); + assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_OK); + assert(sim_motion_step(&queue) == SIM_MOTION_OK); + assert(sim_motion_read_state(&queue, &state) == SIM_MOTION_OK); + assert(state.tick == 1 && state.queue_depth == 2 && state.position.tran.x > 0.09); + assert(sim_motion_state_hash(&queue) != 0); + assert(sim_motion_canonical(&queue, canonical, sizeof(canonical)) > 1); + command.segment = line(9, 10); + assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_ERR_STATE); + command.segment.motion_type = 99; + assert(sim_motion_enqueue(&queue, &command, 0) == SIM_MOTION_ERR_MOTION_TYPE); + return 0; +} diff --git a/wasm-core/tests/sim_posemath_test.c b/wasm-core/tests/sim_posemath_test.c index e3f5ef2..abc8313 100644 --- a/wasm-core/tests/sim_posemath_test.c +++ b/wasm-core/tests/sim_posemath_test.c @@ -16,8 +16,35 @@ int main(void) { assert(output.x == 6.5 && output.y == 7.0 && output.z == 5.0); assert(sim_posemath_line_point(&input, &end, 1.1, &output) == SIM_POSEMATH_ERR_RANGE); input.x = NAN; - assert(sim_posemath_normalize(&input, &output) == SIM_POSEMATH_ERR_ARGUMENT); + assert(sim_posemath_normalize(&input, &output) == SIM_POSEMATH_ERR_NONFINITE); input.x = 0.0; input.y = 0.0; input.z = 0.0; assert(sim_posemath_normalize(&input, &output) == SIM_POSEMATH_ERR_DEGENERATE); + + { + sim_posemath_pose start = {{0.0, 0.0, 0.0}, 0, 0, 0, 0, 0, 0}; + sim_posemath_pose finish = {{2.0, 0.0, 0.0}, 1, 2, 3, 4, 5, 6}; + sim_posemath_pose point = {0}; + sim_posemath_segment segment = {start, finish, {0, 0, 0}, {0, 0, 1}, 1.0, 2.0, SIM_POSEMATH_LINEAR, 0}; + sim_tp planner = {0}; + sim_tp_state first = {0}; + sim_tp_state second = {0}; + uint32_t id = 0; + assert(sim_posemath_pose_line_point(&start, &finish, 0.5, &point) == SIM_POSEMATH_OK); + assert(point.tran.x == 1.0 && point.a == 0.5 && point.w == 3.0); + assert(sim_posemath_segment_validate(&segment) == SIM_POSEMATH_OK); + assert(sim_posemath_segment_point(&segment, 0.5, &point) == SIM_POSEMATH_OK); + assert(sim_tp_init(&planner, 0.1, 10.0, 10.0) == SIM_POSEMATH_OK); + assert(sim_tp_enqueue(&planner, &segment, &id) == SIM_POSEMATH_OK && id == 1); + assert(sim_tp_step(&planner) == SIM_POSEMATH_OK); + assert(sim_tp_read_state(&planner, &first) == SIM_POSEMATH_OK); + assert(sim_tp_state_hash(&planner) == sim_posemath_hash_state(&first)); + assert(sim_tp_read_state(&planner, &second) == SIM_POSEMATH_OK); + assert(sim_posemath_hash_state(&first) == sim_posemath_hash_state(&second)); + segment.motion_type = 99; + assert(sim_posemath_segment_validate(&segment) == SIM_POSEMATH_ERR_MOTION_TYPE); + segment.motion_type = SIM_POSEMATH_LINEAR; + segment.velocity = 11.0; + assert(sim_tp_enqueue(&planner, &segment, 0) == SIM_POSEMATH_ERR_RANGE); + } return 0; }