Implement WebAssembly runtime and kinematics coverage

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"
+}