Implement WebAssembly runtime and kinematics coverage

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