Implement WebAssembly runtime and kinematics coverage

coverage/fiveaxis-kinematics.report.json

@@ -0,0 +1,105 @@
+{
+  "boundary": {
+    "duplicate_axis_suffix": "verified",
+    "missing_required_coordinate": "SIM_KIN_ERR_CONFIGURATION verified",
+    "pivot_length": "250.0 verified",
+    "round_trip": "verified",
+    "state_hash": "native/WASM identical"
+  },
+  "configuration": {
+    "coordinates": "xyzbcwy",
+    "duplicate_axis": "Y at joint 1 and suffix joint 6; first-wins mapping with suffix synchronized",
+    "joints": 7,
+    "kinematics": "5axiskins",
+    "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
+    "pivot_length_default": 250.0,
+    "required_coordinates": "XYZBCW",
+    "scan": {
+      "joint_count": true,
+      "kins_entry": true,
+      "pivot_pin": true
+    }
+  },
+  "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_contains_required_coordinates": true,
+    "source_spherical_helper": "s2r"
+  },
+  "implementation_status": "verified",
+  "native_wasm": {
+    "native_command": "build-native/sim_kinematics_test",
+    "status": "passed",
+    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
+  },
+  "oracle": {
+    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
+    "status": "blocked"
+  },
+  "report_sha256": "d0af8c3785d87bedd869d235f45b9d522434589a26794113b1acf8526982dde0",
+  "sample": {
+    "byte_identical_json": true,
+    "native": {
+      "inverse": [
+        10.0,
+        20.0,
+        30.0,
+        35.0,
+        40.0,
+        -2.0,
+        20.0
+      ],
+      "pose": [
+        118.967490359,
+        111.434580971,
+        76.850293016
+      ],
+      "state_hash": 5053227094931014129
+    },
+    "wasm": {
+      "inverse": [
+        10.0,
+        20.0,
+        30.0,
+        35.0,
+        40.0,
+        -2.0,
+        20.0
+      ],
+      "pose": [
+        118.967490359,
+        111.434580971,
+        76.850293016
+      ],
+      "state_hash": 5053227094931014129
+    }
+  },
+  "schema": "fiveaxis-kinematics-report.v1",
+  "source_records": {
+    "config": {
+      "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
+      "sha256": "789ba656f8ee3e97feba07b58eb242305898e745795891b1a7e536289bffe6bf"
+    },
+    "hal": {
+      "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal",
+      "sha256": "a59e6b9432c0a898f6d8da46309b868733a906158733fb0942017d14eb97cd07"
+    },
+    "header": {
+      "path": "wasm-core/include/sim_kinematics.h",
+      "sha256": "db16293ec3645559a0be71a40963693f3d1e3f5fdedc92902be19b47f653dfa8"
+    },
+    "source": {
+      "path": "linuxcnc/src/emc/kinematics/5axiskins.c",
+      "sha256": "2e29fee21936cfbbafbb000290276e4b32eaba4831014e08d3fb833f2b3dac72"
+    },
+    "source_impl": {
+      "path": "wasm-core/src/sim_kinematics.c",
+      "sha256": "7a77915c59f190bcbe5c93d8f53498745bfcf978c167ba8878a21b914f9401fd"
+    },
+    "test": {
+      "path": "wasm-core/tests/sim_kinematics_test.c",
+      "sha256": "ceeb8b4100d034d76e70ce675d78b2d62c51e8e70be2205a9c8ae02e105a6aa6"
+    }
+  },
+  "status": "partial"
+}