Implement WebAssembly runtime and kinematics coverage

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 <window> --overhead-tokens <current-request-overhead>`。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。

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,
+    "total": 8035,
-    "source_index": 8020,
+    "source_index": 8035,
-    "manifest_seed": 8020,
+    "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",
+  "source_index_sha256": "b0719a9cf1031f7305e29075e645f21aa3c3630401e284825565a8b206c83ce4",
-  "manifest_seed_sha256": "1a64bedd3629e665411fb87abb6b5de94eed11456acab305fade6bdec18076fd",
+  "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",
+  "hal_runtime_report_sha256": "85f79be090c5fceb3ee633da0fff57c908604938592c9b2cf6a1b2151b588e6b",
-  "posemath_runtime_report_sha256": "26b04fb285b5d085a980856fffe5707c2e2ccaeddc08c06f2da2491e76256a39",
+  "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",

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
+    }
+  }
+}

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",
+      "forward": "X=0.5*(J0+J1), Y=0.5*(J0-J1), Z=J2",
+      "round_trip": "verified"
+    },
+    "maxkins": {
+      "boundary": "pivot_length=0 and pivot_length=0.666 verified",
+      "forward": "LinuxCNC maxkins pivot/B/C/U/V/W correction formula",
+      "round_trip": "verified"
+    },
+    "rose": {
+      "branch_state": "previous quadrant plus revolution count",
+      "forward": "X=R*cos(theta), Y=R*sin(theta), Z=J1; theta=J2 degrees",
+      "quadrant_continuity": "verified",
+      "round_trip": "verified"
+    },
+    "rotatekins": {
+      "boundary": "90 degree rotation verified",
+      "forward": "XY rotation by -C degrees; Z and optional axes direct",
+      "round_trip": "verified"
+    }
+  },
+  "implementation_status": "verified",
+  "native_wasm": {
+    "native_command": "build-native/sim_kinematics_test",
+    "status": "passed",
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+}

coverage/delta-kinematics.report.json

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+{
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+        "linuxcnc/configs/sim/axis/axis_manualtoolchange.hal",
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+}

coverage/fiveaxis-kinematics.report.json

@@ -0,0 +1,105 @@
+{
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+    "missing_required_coordinate": "SIM_KIN_ERR_CONFIGURATION verified",
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+    "joints": 7,
+    "kinematics": "5axiskins",
+    "path": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
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+  },
+  "oracle": {
+    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
+    "status": "blocked"
+  },
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+  "source_records": {
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+      "sha256": "789ba656f8ee3e97feba07b58eb242305898e745795891b1a7e536289bffe6bf"
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+      "sha256": "a59e6b9432c0a898f6d8da46309b868733a906158733fb0942017d14eb97cd07"
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+    },
+    "source": {
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+      "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"
+}

coverage/genhex-kinematics.report.json

@@ -0,0 +1,333 @@
+{
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+  },
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+    "status": "passed",
+    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
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+      "alternate initial seed",
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+      "singular Jacobian",
+      "joint limit"
+    ],
+    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
+    "status": "blocked"
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+      }
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+      "sha256": "362654b77bcaf5c87c3aa14c12684f516cbd635b6d582a68b05fcbd8299822ea"
+    },
+    "hal": {
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+      "sha256": "6dd6d63e0403dcc0c82b43790eaa5b4a4d639c5a02391ac1dcd5673969c4ec39"
+    },
+    "header": {
+      "path": "linuxcnc/src/emc/kinematics/genhexkins.h",
+      "sha256": "580a2e1703a5c0efb683b4a26f805af434edcfe9d1ade7890e44307f8b0b236c"
+    },
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+      "sha256": "8df3d8bd812e040a06bc29ea91625fd143bacf26903b106ae6700430aca7f6b9"
+    },
+    "test": {
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+      "sha256": "c9e4d20973c6a487787504bd5de9a73829f53d8bbfd35f91e72c6c62c76f191e"
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+    "residual": 8.57e-10,
+    "singular_jacobian_error": -704
+  }
+}

coverage/genser-kinematics.report.json

@@ -0,0 +1,132 @@
+{
+  "boundaries": {
+    "fixed_iteration_limit": "verified",
+    "invalid_DH_nonfinite": "SIM_KIN_ERR_NONFINITE verified",
+    "state_hash": "native/WASM identical after 1e-9 quantization"
+  },
+  "configuration_candidates": {
+    "melfa": {
+      "dh_source": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa_dh.hal",
+      "kinematics": "genserkins",
+      "path": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini",
+      "scan": true
+    },
+    "puma560": {
+      "dh_source": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
+      "kinematics": "genserkins",
+      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
+      "scan": true
+    }
+  },
+  "dh_contract": {
+    "alpha_units": "radians from HAL pins",
+    "joint_count": 6,
+    "joint_units": "degrees at public ABI, radians internally",
+    "melfa_has_alpha_and_d": true,
+    "parameters": [
+      "A-0..5",
+      "ALPHA-0..5",
+      "D-0..5"
+    ],
+    "puma_has_alpha_and_d": true
+  },
+  "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": "fc6c23f67b2a14b58735fa60ed884a5a73815c3efb26f1b4d0de427e882d67b8",
+  "samples": {
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+  "schema": "genser-kinematics-report.v1",
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+    "forward": "Craig DH homogeneous product",
+    "inverse": "fixed-zero seed damped numerical Jacobian with 1e-4 degree finite difference",
+    "iterations": 0,
+    "max_iterations": 200,
+    "nonconvergence": "SIM_KIN_ERR_SINGULAR after fixed iteration limit",
+    "residual": 0.0
+  },
+  "source_records": {
+    "functions": {
+      "path": "linuxcnc/src/emc/kinematics/genserfuncs.c",
+      "sha256": "e4b775e93b973a4faae873c81a95d7d8361fe5c5c59ea81e362a5f900a1e8781"
+    },
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+      "sha256": "41fc146ab88a623b5bc6afbba1fc0d12434689c737426da12fcd297162672749"
+    },
+    "melfa_config": {
+      "path": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini",
+      "sha256": "7dc7a3db58ca7f7ddba11fe08f691cd7658564be2a0b872d9087ee7b392e45c7"
+    },
+    "melfa_dh": {
+      "path": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa_dh.hal",
+      "sha256": "0d943182e37da99ae99db53f3dd464cb9b62b17d4cabe56c35c0c27b43bf68c6"
+    },
+    "puma_config": {
+      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
+      "sha256": "2bb881ed6c5662282977accac29bfd6c4efc18e572cbcb8a31c134677012cf4c"
+    },
+    "puma_dh": {
+      "path": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
+      "sha256": "23758eb7a6a4abe116e1de88140d04e6c9a910d1c378f019d76843a5a3fb6141"
+    },
+    "source": {
+      "path": "linuxcnc/src/emc/kinematics/genserkins.c",
+      "sha256": "cbb87b9c21f9f5e1d6a3c5bd333f72a7b1b4f1618a21b32d4b34bc621b43e075"
+    },
+    "test": {
+      "path": "wasm-core/tests/sim_kinematics_test.c",
+      "sha256": "6c803de9aeb91499cef391620f17c7da69ee78a873b43b0ba9fa508fd096f31a"
+    }
+  },
+  "status": "partial"
+}

coverage/hal-runtime.report.json

@@ -5,5 +5,8 @@
   "fixed_tick_scheduler": true,
   "max_period_ticks": 1000000,
   "native_tests": ["sim_hal_test"],
+  "wasm_tests": ["sim_hal_wasm_test"],
+  "static_components": ["corexy_by_hal"],
+  "corexy_transform": "coverage/corexy-hal.report.json",
   "real_excluded": ["hardware_driver", "linux_realtime_kernel", "host_device_access"]
 }

coverage/interpreter-runtime.report.json

@@ -0,0 +1,361 @@
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+    "files": [
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+        "path": "wasm-core/include/sim_interpreter.h",
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+  "schema": "interpreter-runtime-report.v1",
+  "status": "passed",
+  "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"
+  ]
+}

coverage/kinematics-abi-contract.json

@@ -0,0 +1,231 @@
+{
+  "abi_version": 1,
+  "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+  "contract_sha256": "3c338760a86122d25b76e5a27e26b9c79d8579e1ca96638ed932b8ca8e41283a",
+  "declared_functions": [
+    "sim_kinematics_forward",
+    "sim_kinematics_forward_ex",
+    "sim_kinematics_home",
+    "sim_kinematics_init",
+    "sim_kinematics_inverse",
+    "sim_kinematics_inverse_ex",
+    "sim_kinematics_state_hash",
+    "sim_kinematics_validate_pose"
+  ],
+  "enums": {
+    "sim_kinematics_mode": [
+      {
+        "name": "SIM_KIN_MODE_DEFAULT",
+        "value": 0
+      },
+      {
+        "name": "SIM_KIN_MODE_IDENTITY",
+        "value": 1
+      },
+      {
+        "name": "SIM_KIN_MODE_FORWARD_ONLY",
+        "value": 2
+      },
+      {
+        "name": "SIM_KIN_MODE_INVERSE_ONLY",
+        "value": 3
+      },
+      {
+        "name": "SIM_KIN_MODE_BOTH",
+        "value": 4
+      }
+    ],
+    "sim_kinematics_result": [
+      {
+        "name": "SIM_KIN_OK",
+        "value": 0
+      },
+      {
+        "name": "SIM_KIN_ERR_ARGUMENT",
+        "value": -700
+      },
+      {
+        "name": "SIM_KIN_ERR_NONFINITE",
+        "value": -701
+      },
+      {
+        "name": "SIM_KIN_ERR_RANGE",
+        "value": -702
+      },
+      {
+        "name": "SIM_KIN_ERR_CONFIGURATION",
+        "value": -703
+      },
+      {
+        "name": "SIM_KIN_ERR_SINGULAR",
+        "value": -704
+      },
+      {
+        "name": "SIM_KIN_ERR_UNKNOWN_TYPE",
+        "value": -705
+      },
+      {
+        "name": "SIM_KIN_ERR_UNSUPPORTED",
+        "value": -706
+      }
+    ],
+    "sim_kinematics_type": [
+      {
+        "name": "SIM_KIN_TRIVKINS",
+        "value": 1
+      },
+      {
+        "name": "SIM_KIN_XYZAC_TRT",
+        "value": 2
+      },
+      {
+        "name": "SIM_KIN_XYZBC_TRT",
+        "value": 3
+      },
+      {
+        "name": "SIM_KIN_XYZBCW",
+        "value": 4
+      },
+      {
+        "name": "SIM_KIN_COREXY",
+        "value": 5
+      },
+      {
+        "name": "SIM_KIN_ROSE",
+        "value": 6
+      },
+      {
+        "name": "SIM_KIN_MAXKINS",
+        "value": 7
+      },
+      {
+        "name": "SIM_KIN_ROTATEKINS",
+        "value": 8
+      },
+      {
+        "name": "SIM_KIN_5AXISKINS",
+        "value": 9
+      },
+      {
+        "name": "SIM_KIN_SCARA",
+        "value": 10
+      },
+      {
+        "name": "SIM_KIN_PUMA",
+        "value": 11
+      },
+      {
+        "name": "SIM_KIN_SCORBOT",
+        "value": 12
+      },
+      {
+        "name": "SIM_KIN_GENSER",
+        "value": 13
+      }
+    ]
+  },
+  "errors": {
+    "SIM_KIN_ERR_ARGUMENT": -700,
+    "SIM_KIN_ERR_CONFIGURATION": -703,
+    "SIM_KIN_ERR_NONFINITE": -701,
+    "SIM_KIN_ERR_RANGE": -702,
+    "SIM_KIN_ERR_SINGULAR": -704,
+    "SIM_KIN_ERR_UNKNOWN_TYPE": -705,
+    "SIM_KIN_ERR_UNSUPPORTED": -706,
+    "SIM_KIN_OK": 0
+  },
+  "exported_functions": [
+    "sim_kinematics_forward",
+    "sim_kinematics_forward_ex",
+    "sim_kinematics_home",
+    "sim_kinematics_init",
+    "sim_kinematics_inverse",
+    "sim_kinematics_inverse_ex",
+    "sim_kinematics_state_hash",
+    "sim_kinematics_validate_pose"
+  ],
+  "inputs": {
+    "cmake": "wasm-core/CMakeLists.txt",
+    "cmake_sha256": "e9296a3983a531e4e6864d05e2e97c8dbf29e0dc9e45942ecc1a0a7222b3a660",
+    "header": "wasm-core/include/sim_kinematics.h",
+    "header_sha256": "5fd01043d705486b0d365e36109c3b0e0d39f220c2cec313b5b747dca06148bc"
+  },
+  "missing_required_exports": [],
+  "numeric_policy": {
+    "fast_math": false,
+    "fp_contract": "off",
+    "iteration_limit": 100000,
+    "nonfinite": "SIM_KIN_ERR_NONFINITE",
+    "state_hash": "FNV-1a-64"
+  },
+  "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"
+  ],
+  "schema": "kinematics-abi-contract.v1",
+  "status": "verified",
+  "structs": {
+    "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_config": [
+      "int type;",
+      "int mode;",
+      "uint32_t joint_count;",
+      "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];",
+      "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_result_info": [
+      "uint64_t forward_flags;",
+      "uint64_t inverse_flags;",
+      "double residual;",
+      "uint32_t iterations;",
+      "uint32_t branch_id;"
+    ]
+  }
+}

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"
+}

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"
+}

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"
+    ]
+  }
+}

coverage/kinematics-oracle.report.json

@@ -0,0 +1,599 @@
+{
+  "blocked_count": 11,
+  "blocking_reasons": [
+    "linuxcnc/unit_tests/kinematics"
+  ],
+  "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+  "golden_schema": "coverage/kinematics-golden-schema.json",
+  "golden_schema_sha256": "8d6abe21ad350bb5a5ddc38d8fd9044ed2fa622f4331804a85cad55eb5a30a63",
+  "inputs": {
+    "closure": "coverage/kinematics-source-closure.report.json",
+    "closure_sha256": "d3af5e19e38d8dc2640323dcf755d0323e871815087b9eece9d76544b0b0cfa6",
+    "samples": "coverage/kinematics-oracle-samples.jsonl",
+    "samples_sha256": "df32ade49e3c3beb49e52d26200e37766dd04c5bee5dba4b1c87695439bf87bd"
+  },
+  "native_smoke": {
+    "binary": "build-native/sim_kinematics_test",
+    "exit_code": 0,
+    "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+    "status": "passed",
+    "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+    "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+  },
+  "ready_count": 0,
+  "records": [
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/axis/anglejog/anglejog.ini:54:kinematics:trivkins",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+          "status": "passed",
+          "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+          "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+        },
+        "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",
+        "status": "blocked"
+      },
+      "family": "cartesian",
+      "input": {
+        "joint": [
+          10.0,
+          -5.0,
+          2.5
+        ]
+      },
+      "operation": "fk_ik_fk_roundtrip",
+      "result": {
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+        "branch_id": null,
+        "config_hash": null,
+        "current_tick": 0,
+        "error_code": "MISSING_OFFICIAL_ORACLE",
+        "flags": null,
+        "kinematics_type": "cartesian",
+        "status": "blocked"
+      },
+      "sample_id": "kinematics-sample:cartesian:nominal-roundtrip",
+      "schema": "kinematics-golden.v1",
+      "tolerances": {
+        "absolute_tolerance": 1e-09,
+        "exact_fields": [
+          "status",
+          "flags",
+          "branch_id"
+        ],
+        "invariant": "pose_roundtrip"
+      }
+    },
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal:25:hal_transform:corexy_by_hal",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+          "status": "passed",
+          "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+          "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+        },
+        "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",
+        "status": "blocked"
+      },
+      "family": "coupled_linear",
+      "input": {
+        "joint": [
+          12.0,
+          4.0,
+          3.0
+        ]
+      },
+      "operation": "fk_ik_fk_roundtrip",
+      "result": {
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+        "branch_id": null,
+        "config_hash": null,
+        "current_tick": 0,
+        "error_code": "MISSING_OFFICIAL_ORACLE",
+        "flags": null,
+        "kinematics_type": "coupled_linear",
+        "status": "blocked"
+      },
+      "sample_id": "kinematics-sample:coupled_linear:nominal-roundtrip",
+      "schema": "kinematics-golden.v1",
+      "tolerances": {
+        "absolute_tolerance": 1e-09,
+        "exact_fields": [
+          "status",
+          "flags",
+          "branch_id"
+        ],
+        "invariant": "pose_roundtrip"
+      }
+    },
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini:98:kinematics:5axiskins",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+          "status": "passed",
+          "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+          "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+        },
+        "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",
+        "status": "blocked"
+      },
+      "family": "five_axis",
+      "input": {
+        "joint": [
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+          20.0,
+          30.0,
+          15.0,
+          -20.0
+        ]
+      },
+      "operation": "fk_ik_fk_roundtrip",
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+        "branch_id": null,
+        "config_hash": null,
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+        "error_code": "MISSING_OFFICIAL_ORACLE",
+        "flags": null,
+        "kinematics_type": "five_axis",
+        "status": "blocked"
+      },
+      "sample_id": "kinematics-sample:five_axis:nominal-roundtrip",
+      "schema": "kinematics-golden.v1",
+      "tolerances": {
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+        "exact_fields": [
+          "status",
+          "flags",
+          "branch_id"
+        ],
+        "invariant": "pose_roundtrip"
+      }
+    },
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/axis/vismach/5axis/table-dual-rotary/xyzab-tdr.ini:31:kinematics:xyzab_tdr_kins",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+          "status": "passed",
+          "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+          "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+        },
+        "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",
+        "status": "blocked"
+      },
+      "family": "five_axis_trt",
+      "input": {
+        "joint": [
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+          50.0,
+          200.0,
+          30.0,
+          45.0
+        ]
+      },
+      "operation": "fk_ik_fk_roundtrip",
+      "result": {
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+        "branch_id": null,
+        "config_hash": null,
+        "current_tick": 0,
+        "error_code": "MISSING_OFFICIAL_ORACLE",
+        "flags": null,
+        "kinematics_type": "five_axis_trt",
+        "status": "blocked"
+      },
+      "sample_id": "kinematics-sample:five_axis_trt:nominal-roundtrip",
+      "schema": "kinematics-golden.v1",
+      "tolerances": {
+        "absolute_tolerance": 1e-09,
+        "exact_fields": [
+          "status",
+          "flags",
+          "branch_id"
+        ],
+        "invariant": "pose_roundtrip"
+      }
+    },
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/axis/ldelta.ini:59:kinematics:lineardeltakins",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+          "status": "passed",
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+          "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+        },
+        "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",
+        "status": "blocked"
+      },
+      "family": "parallel_delta",
+      "input": {
+        "pose": {
+          "abcuvw": [
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+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "tran": [
+            5.0,
+            -3.0,
+            -250.0
+          ]
+        }
+      },
+      "operation": "fk_ik_fk_roundtrip",
+      "result": {
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+        "branch_id": null,
+        "config_hash": null,
+        "current_tick": 0,
+        "error_code": "MISSING_OFFICIAL_ORACLE",
+        "flags": null,
+        "kinematics_type": "parallel_delta",
+        "status": "blocked"
+      },
+      "sample_id": "kinematics-sample:parallel_delta:nominal-roundtrip",
+      "schema": "kinematics-golden.v1",
+      "tolerances": {
+        "absolute_tolerance": 1e-09,
+        "exact_fields": [
+          "status",
+          "flags",
+          "branch_id"
+        ],
+        "invariant": "pose_roundtrip"
+      }
+    },
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/axis/vismach/hexapod-sim/hexapod.ini:76:kinematics:genhexkins",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+          "status": "passed",
+          "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+          "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+        },
+        "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",
+        "status": "blocked"
+      },
+      "family": "parallel_hexapod",
+      "input": {
+        "pose": {
+          "abcuvw": [
+            1.0,
+            -1.0,
+            2.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "tran": [
+            0.0,
+            0.0,
+            100.0
+          ]
+        }
+      },
+      "operation": "fk_ik_fk_roundtrip",
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+        "branch_id": null,
+        "config_hash": null,
+        "current_tick": 0,
+        "error_code": "MISSING_OFFICIAL_ORACLE",
+        "flags": null,
+        "kinematics_type": "parallel_hexapod",
+        "status": "blocked"
+      },
+      "sample_id": "kinematics-sample:parallel_hexapod:nominal-roundtrip",
+      "schema": "kinematics-golden.v1",
+      "tolerances": {
+        "absolute_tolerance": 1e-09,
+        "exact_fields": [
+          "status",
+          "flags",
+          "branch_id"
+        ],
+        "invariant": "pose_roundtrip"
+      }
+    },
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/axis/pentapod/pentapod.ini:113:kinematics:pentakins",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
+          "status": "passed",
+          "stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
+          "stdout_sha256": "4792c9d03a753904bfef11d4b53e680ec1ff00a8b593addd95f4d566aa722140"
+        },
+        "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",
+        "status": "blocked"
+      },
+      "family": "parallel_pentapod",
+      "input": {
+        "pose": {
+          "abcuvw": [
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+            2.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "tran": [
+            0.0,
+            0.0,
+            75.0
+          ]
+        }
+      },
+      "operation": "fk_ik_fk_roundtrip",
+      "result": {
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+        "branch_id": null,
+        "config_hash": null,
+        "current_tick": 0,
+        "error_code": "MISSING_OFFICIAL_ORACLE",
+        "flags": null,
+        "kinematics_type": "parallel_pentapod",
+        "status": "blocked"
+      },
+      "sample_id": "kinematics-sample:parallel_pentapod:nominal-roundtrip",
+      "schema": "kinematics-golden.v1",
+      "tolerances": {
+        "absolute_tolerance": 1e-09,
+        "exact_fields": [
+          "status",
+          "flags",
+          "branch_id"
+        ],
+        "invariant": "pose_roundtrip"
+      }
+    },
+    {
+      "configuration_id": "config:linuxcnc/configs/sim/tklinuxcnc/tripod.ini:59:kinematics:tripodkins",
+      "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
+      "execution": {
+        "native_smoke": {
+          "binary": "build-native/sim_kinematics_test",
+          "exit_code": 0,
+          "result_sha256": "96d4ce027200030704ead75b891ead3c3af9b39f60eaccaafa875e0e8d526e3a",
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coverage/kinematics-runtime.report.json

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+}

coverage/motion-runtime.report.json

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+  "schema": "motion-runtime-report.v1",
+  "status": "passed"
+}

coverage/pentapod-kinematics.report.json

@@ -0,0 +1,248 @@
+{
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+    "kinematics": "pentakins",
+    "path": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
+    "scan": true
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+}

coverage/posemath-runtime.report.json

@@ -1,10 +1,230 @@
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   "native_and_wasm": true,
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 }

coverage/robot-kinematics.report.json

@@ -0,0 +1,229 @@
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+      "sha256": "89badd55ec168139143c58f67c64dbdb9e5b411c3b847404beaf79ba8c591b5d"
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+    }
+  },
+  "status": "partial"
+}

coverage/source-index.jsonl

@@ -532,6 +532,8 @@
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@@ -736,6 +738,8 @@
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@@ -3207,21 +3211,32 @@
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coverage/tripod-kinematics.report.json

@@ -0,0 +1,197 @@
+{
+  "configuration_candidate": {
+    "coordinates": "XYZ",
+    "hal_library": "linuxcnc/lib/hallib/tripodsim.hal",
+    "joints": 3,
+    "kinematics": "tripodkins",
+    "path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
+    "scan": true
+  },
+  "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": {
+      "Bx": 10.0,
+      "Cx": 5.0,
+      "Cy": 7.071
+    },
+    "joint_semantics": [
+      "AD",
+      "BD",
+      "CD"
+    ]
+  },
+  "implementation_status": "verified",
+  "mapping": {
+    "axis_joint_mapping": {
+      "X": 0,
+      "Y": 1,
+      "Z": 2
+    },
+    "coordinates": "XYZ",
+    "home_pose": [
+      0.0,
+      0.0,
+      1.0
+    ],
+    "kinematics_joint_count": 3
+  },
+  "native_wasm": {
+    "native_command": "build-native/sim_kinematics_test",
+    "status": "passed",
+    "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"
+  },
+  "oracle": {
+    "blocked_samples": [
+      "nominal above-root",
+      "alternate below-root",
+      "triangle-inequality no-solution",
+      "base-plane singular",
+      "joint-limit",
+      "degenerate base geometry"
+    ],
+    "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
+    "status": "blocked"
+  },
+  "report_sha256": "e5fe7526d1dcff1f8327c1389809affb5ac4cf1913e4b428ec4420e6ae957070",
+  "samples": {
+    "byte_identical_json": true,
+    "native": {
+      "boundaries": {
+        "alternate_branch": 1,
+        "alternate_pose": [
+          2.0,
+          3.0,
+          -4.0
+        ],
+        "alternate_status": 0,
+        "branch": 0,
+        "geometry_error": -703,
+        "iterations": 0,
+        "limit_error": -702,
+        "no_solution": -702,
+        "singular": -704
+      },
+      "tripod": {
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+          9.433981132,
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+        "pose": [
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+          3.0,
+          4.0
+        ],
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+      }
+    },
+    "state_hash_identical": true,
+    "wasm": {
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+        "alternate_pose": [
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+          3.0,
+          -4.0
+        ],
+        "alternate_status": 0,
+        "branch": 0,
+        "geometry_error": -703,
+        "iterations": 0,
+        "limit_error": -702,
+        "no_solution": -702,
+        "singular": -704
+      },
+      "tripod": {
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+          9.433981132,
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+          3.0,
+          4.0
+        ],
+        "state_hash": 7469146853106540736
+      }
+    }
+  },
+  "schema": "tripod-kinematics-report.v1",
+  "solver": {
+    "alternate_branch": "Dz<0 when SIM_KIN_TRIPOD_BELOW_ROOT is set",
+    "convergence_tolerance": 0.0,
+    "default_branch": "Dz>0",
+    "forward": "analytic trilateration",
+    "inverse": "three Euclidean strut lengths",
+    "iterations": 0
+  },
+  "source_records": {
+    "config": {
+      "path": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
+      "sha256": "8da7280a981d80e9b7d4b608a357fc87dbb9d83535636794e1ae97d5ebcb8f01"
+    },
+    "hal": {
+      "path": "linuxcnc/lib/hallib/tripodsim.hal",
+      "sha256": "e8b341253823f5e2764b2e7c4cc630b557b89dad5e1f7698bbddc1d0b9679747"
+    },
+    "header": {
+      "path": "wasm-core/include/sim_kinematics.h",
+      "sha256": "43e588f7c45c703970598e8e42ff5aae4b97a437eaff1d4cd6ad156bd204edc7"
+    },
+    "implementation": {
+      "path": "wasm-core/src/sim_kinematics.c",
+      "sha256": "f15842a1dbf0cb33f071ee1e70715a85a1f3dec44c4facc220edd924f6ca352c"
+    },
+    "source": {
+      "path": "linuxcnc/src/emc/kinematics/tripodkins.c",
+      "sha256": "0fb0876d2ab190e3bde69d3fe1ce0cebbb54adee2ddb4b05b929d7ca5cb3f31f"
+    },
+    "test": {
+      "path": "wasm-core/tests/sim_kinematics_test.c",
+      "sha256": "00d9efc3c701ba2848535357f6027e6d9d4d19796a17be96e290ddc0babe2c5c"
+    }
+  },
+  "status": "partial",
+  "workspace_and_boundaries": {
+    "alternate_branch": 1,
+    "alternate_pose": [
+      2.0,
+      3.0,
+      -4.0
+    ],
+    "base_plane_singular_error": -704,
+    "geometry_error": -703,
+    "iterations": 0,
+    "joint_limit_error": -702,
+    "no_solution_error": -702,
+    "nominal": {
+      "inverse": [
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+        9.433981132,
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+        3.0,
+        4.0
+      ],
+      "state_hash": 7469146853106540736
+    },
+    "root_branch": 0
+  }
+}

coverage/trivkins-integration.report.json

@@ -0,0 +1,307 @@
+{
+  "abi_contract": "coverage/kinematics-abi-contract.json",
+  "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",
+    "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",
+    "config:linuxcnc/configs/sim/axis/gantry/gantry.ini:3:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/gantry/gantry_jjog.ini:6:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/gantry/gantry_mm.ini:45:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/geometry/xyzc.ini:33:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/geometry/xyzc_origin.ini:34:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/gladevcp/gladevcp_panel.ini:69:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/gladevcp/gladevcp_panel_tester.ini:69:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/gladevcp/gladevcp_tab.ini:73:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/gladevcp/probe.ini:69:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/gladevcp/set-param-from-ini.ini:68:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/halui_pyvcp/halui.ini:57:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/histogram_demo.ini:67:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/historical_lathe.ini:68:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ini_hal_demo.ini:71:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ini_with_includes/kins.inc:2:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/iocontrolv2/axis-iocontrolv2-demo.ini:88:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/iocontrolv2/g8812.ini:135:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/iocontrolv2/m66track.ini:116:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/iocontrolv2/owordm6-ui-ns.ini:118:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/iocontrolv2/owordm6-ui.ini:98:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyyzb.ini:20:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.ini:13:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ja_tests/xyzx_mpg/xyzx_base.inc:7:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ja_tests/xz/xz.ini:11:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ja_tests/xz/xz_both.ini:10:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ja_tests/xz/xz_both_auto.ini:10:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/lathe-fanucy/lathe-fanucy.ini:62:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/lathe.ini:64:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/lathe_multispindle/lathe.ini:142:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/minimal_xyz.ini:39:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/moveoff/moveoff_base.inc:40:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ngcgui/ngcgui.ini:101:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ngcgui/ngcgui_gcmc.ini:106:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ngcgui/ngcgui_lathe.ini:90:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ngcgui/ngcgui_simple.ini:89:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/ngcgui/pyngcgui_axis.ini:102:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/orphans/acc_test.ini:66:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/orphans/axis_noio.ini:117:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/orphans/iocontrol-removed/core_sim_test.hal:5:loadrt:trivkins",
+    "config:linuxcnc/configs/sim/axis/orphans/iocontrol-removed/iocontrol-removed.ini:212:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/orphans/medium.ini:65:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/panelui-demo/panelui-demo.ini:67:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/plasma/imperial.ini:61:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/plasma/metric.ini:61:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/profile_axis.ini:64:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/qtvcp/qtvcp_tab.ini:74:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/qtvcp/qtvismach_tab.ini:73:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/random_tc.ini:64:kinematics:trivkins",
+    "config:linuxcnc/configs/sim/axis/remap/cycle/cycle.ini:75:kinematics:trivkins",
+    "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"
+  }
+}

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"
+}

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 <packet.json> --context-window <model-window> --overhead-tokens <current-request-overhead>
 ```
 
+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。

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 |
+| 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、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 |
+| 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
 

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。

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/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` | 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 |
+| `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、导入导出骨架 | 工程边界可编译、可调用 |
+| `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。

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 |
+| 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 | 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 |
+| 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 |
 

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。

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` |

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 |

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

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。

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”
+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。
-**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
 
-> 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。
+## Current
-
-## 1. 接续记录
 
 ```yaml
-handoff_version: 1
+pointer_version: 3
-context_id: linuxcnc-2.10.0-pre0-wasm-m0-c1
+updated: 2026-08-21
-milestone: M0
+context_id: linuxcnc-2.10.0-pre0-wasm-m1-py-c1
-last_verified_checkpoint: M1-RT-02-r01
+milestone: K4
-current_task:
+last_verified_checkpoint: K4-HEX-01-r01
-  id: M2-CORE-01
+task:
-  status: ready
+  id: K4-PENTA-01
-  title: posemath/TP 原生核心接入
-  owner: WS-0
-  profile: feature
-next_task:
-  id: M2-CORE-02
   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。
+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。
-- `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。
 
-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。
+基线门禁（开始修改前必须通过）：
-
-## 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：
 
 ```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 <window> --overhead-tokens <current-request-overhead>`；`--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/**`
+**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。
-- `linuxcnc/src/emc/tp/**`
-- `linuxcnc/unit_tests/tp/**`
-- `context-lock.json`
 
-**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`
+**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。
-- `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
 
-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。
+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。
-- 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。
 
-**完成条件**：
+## Verify
-
-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：
 
 ```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/generate_kinematics_closure_report.py
-python3 scripts/normalize_sources.py
+python3 scripts/generate_kinematics_config_graph.py
-  normalized_sources=51268 sha256=a9bb2d50952c52b3f3d1bd50e7dc7654cb3831f28ff8147d9c1fc493ebbe80cb
+python3 scripts/generate_kinematics_oracle_report.py
-```
+cmake --build build-native && ctest --test-dir build-native --output-on-failure
-
-- 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/validate_baseline.py
-  baseline=valid
+python3 scripts/validate_task_pointer.py
-python3 scripts/validate_download_index.py
-  download_index=valid
 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`
+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。
-- 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。
 
-### INV-03a-r01（2026-08-20）
+## Stop
 
-```text
+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。
-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。

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"

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:
+    # Overrides are intentionally one-way: a task may ask for a smaller
-        limits["bytes"] = int(total_bytes)
+    # packet, but it must not enlarge a profile and silently bypass the
-    if evidence_bytes is not None:
+    # context-window policy enforced by the request validator.
-        limits["evidence_bytes"] = int(evidence_bytes)
+    overrides = {
-    if max_files is not None:
+        "tokens": token_limit,
-        limits["files"] = int(max_files)
+        "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.
+            # Finalize the trial before checking budgets.  In particular, do
-            trial_context_bytes = _context_bytes(trial, evidence_used + candidate.size)
+            # 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

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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())

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)
 
 

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())

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())

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())

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"]

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)

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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()

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)

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()

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()

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()

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()

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()

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()

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")

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())

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())

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()

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);

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 <stdint.h>
+
+#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

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

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

wasm-core/include/sim_posemath.h

@@ -5,12 +5,25 @@
 extern "C" {
 #endif
 
+#include <stdint.h>
+
 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
 }