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Complete 3axis tutorial native and Web/WASM parity tools

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This commit is contained in:
wangdequan
2026-08-24 14:01:30 +08:00
parent 938654b19d
commit 7e90142b63
147 changed files with 17639 additions and 557 deletions
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356
coverage/full-case-acceptance-s8-10.report.json
View File

@@ -2,7 +2,7 @@
"acceptance_status": "blocked",
"blockers": [
{
"count": 140,
"count": 139,
"id": "remaining_case_blockers",
"reason": "235-case startup matrix retains resource/HAL/INI/STARTUP blockers; blocked rows are not promoted",
"status": "blocked"
@@ -30,7 +30,7 @@
"acceptance_blockers_retained": {
"blockers": [
{
"count": 140,
"count": 139,
"id": "remaining_case_blockers",
"reason": "235-case startup matrix retains resource/HAL/INI/STARTUP blockers; blocked rows are not promoted",
"status": "blocked"
@@ -51,9 +51,9 @@
"status": "verified"
},
"case_matrix_aggregated": {
"blocked": 140,
"blocked": 139,
"cases": 235,
"ready": 95,
"ready": 96,
"status": "verified"
},
"context_consistency": {
@@ -82,16 +82,16 @@
"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
"coverage": {
"case_matrix": {
"blocked": 140,
"blocked": 139,
"case_count": 235,
"counts": {
"BLOCKED_HAL": 106,
"BLOCKED_INI": 19,
"BLOCKED_RESOURCE": 12,
"BLOCKED_RESOURCE": 11,
"BLOCKED_STARTUP": 3,
"TASK_READY": 95
"TASK_READY": 96
},
"ready": 95,
"ready": 96,
"status": "verified"
},
"display_families": {
@@ -131,12 +131,12 @@
"status": "present"
},
{
"bytes": 297881,
"bytes": 297684,
"implementation_status": "verified",
"path": "coverage/sim-case-matrix-s8-06.report.json",
"role": "case_matrix",
"schema": "sim-case-matrix-s8-06-report.v1",
"sha256": "40a657b0e046373515a8929e321ce515a26a0c6a805a5e3ce6734262877d83ac",
"sha256": "0ee1db9f8cec6718a438598eaa193b2f7a1b57b5ad52f151da17ca5d4a32dfe2",
"status": "verified",
"task_id": "S8-06"
},
@@ -248,8 +248,8 @@
"status": "passed",
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
"stderr_tail": "",
"stdout_sha256": "ab66f78ddf7359b412768bab6ad04c289e60b02309d6b87ba6d203294d837d00",
"stdout_tail": "{\"schema\":\"authoritative-kinematics-s6-sample.v1\",\"status\":\"verified\",\"context_id\":\"linuxcnc-2.10.0-pre0-wasm-m1-py-c1\",\"supported\":{\"type\":\"corexy\",\"pose\":[4,2,3],\"joints\":[6,2,3],\"endpoint_hash\":\"fnv1a64:775904e8c68dd9a0\"},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:775904e8c68dd9a0\",\"actual_hash\":\"fnv1a64:775904e8c68dd9a0\"},\"recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:2aa1ccdba37b5cbf\",\"actual_hash\":\"fnv1a64:2aa1ccdba37b5cbf\"}},\"checkpoint_hash\":\"fnv1a64:115bf7af395816bc\",\"unsupported\":{\"type\":\"puma\",\"code\":\"authoritative_kinematics_unsupported\"},\"boundaries\":[\"other non-trivkins families remain queued for later slices\",\"official LinuxCNC kinematics oracle remains SOURCE_BLOCKED\"]}\n"
"stdout_sha256": "462ecdac6d757e2f36df5c66c9d9d1c5c4596cef5585dc9ef5c2353f0a4a2d50",
"stdout_tail": "{\"schema\":\"authoritative-kinematics-s6-sample.v1\",\"status\":\"verified\",\"context_id\":\"linuxcnc-2.10.0-pre0-wasm-m1-py-c1\",\"supported\":{\"type\":\"corexy\",\"pose\":[4,2,3],\"joints\":[6,2,3],\"endpoint_hash\":\"fnv1a64:e9356bbd07e346b4\"},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:e9356bbd07e346b4\",\"actual_hash\":\"fnv1a64:e9356bbd07e346b4\"},\"recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:179f9db1e698d8a3\",\"actual_hash\":\"fnv1a64:179f9db1e698d8a3\"}},\"checkpoint_hash\":\"fnv1a64:b0841e6a6279e0ce\",\"unsupported\":{\"type\":\"puma\",\"code\":\"authoritative_kinematics_unsupported\"},\"boundaries\":[\"other non-trivkins families remain queued for later slices\",\"official LinuxCNC kinematics oracle remains SOURCE_BLOCKED\"]}\n"
},
{
"command": [
@@ -261,8 +261,8 @@
"status": "passed",
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"stdout_sha256": "95169ca50193d7eeccb7356cfa22145c30b35eac35a97f5e730349b0de262b96",
"stdout_tail": "]],\"joint_semantics\":[\"AD\",\"BD\",\"CD\"]},\"endpoint_hash\":\"fnv1a64:8aa05a6abc6d5b50\"},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:8aa05a6abc6d5b50\",\"actual_hash\":\"fnv1a64:8aa05a6abc6d5b50\"},\"recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:80734148737fcdaf\",\"actual_hash\":\"fnv1a64:80734148737fcdaf\"}},\"checkpoint_hash\":\"fnv1a64:257785be8e73ceae\",\"unsupported\":[{\"type\":\"xyzac-trt\",\"code\":\"authoritative_kinematics_unsupported\"},{\"type\":\"puma\",\"code\":\"authoritative_kinematics_unsupported\"}],\"boundaries\":[\"TRT, serial robot, Delta, Hexapod, Pentapod and switch/user families remain queued for later slices\",\"official LinuxCNC kinematics oracle remains SOURCE_BLOCKED\",\"tripod native/WASM golden is implementation evidence, not official oracle evidence\"]}\n"
},
{
"command": [
@@ -274,8 +274,8 @@
"status": "passed",
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
"stderr_tail": "",
"stdout_sha256": "bcef11935442caf7e90a1477a50fc64ee4aa7041b851127a14a3dd0b6034c824",
"stdout_tail": ".0000000002803],\"endpoint_hash\":\"fnv1a64:b1d05dd7ff31f2d5\"},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:b1d05dd7ff31f2d5\",\"actual_hash\":\"fnv1a64:b1d05dd7ff31f2d5\"},\"recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:ea88896c61d2b41a\",\"actual_hash\":\"fnv1a64:ea88896c61d2b41a\"}},\"checkpoint_hash\":\"fnv1a64:5208e65fe3683b3b\",\"unsupported\":{\"type\":\"xyzac-trt\",\"code\":\"authoritative_kinematics_unsupported\"},\"range\":{\"code\":\"scheduler\",\"message_key\":\"authoritative_kinematics_range\"},\"geometry\":{\"radius\":130.25,\"rod_length\":269,\"tower_layout\":\"120-degree equilateral\"},\"boundaries\":[\"official kinematics oracle remains SOURCE_BLOCKED\",\"TRT/robot/Hexapod/Pentapod/switch/user remain queued\",\"missing ldelta HAL resources are retained as configuration gaps\"]}\n"
"stdout_sha256": "7624f212d7a0ad7c59ee0eb5b13fc2120e6ed66e5ae68a8206b55755ea4cc620",
"stdout_tail": ".0000000002803],\"endpoint_hash\":\"fnv1a64:9df35c35a99dcff9\"},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:9df35c35a99dcff9\",\"actual_hash\":\"fnv1a64:9df35c35a99dcff9\"},\"recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:6429b034483d2f6e\",\"actual_hash\":\"fnv1a64:6429b034483d2f6e\"}},\"checkpoint_hash\":\"fnv1a64:b554f91256ee206a\",\"unsupported\":{\"type\":\"xyzac-trt\",\"code\":\"authoritative_kinematics_unsupported\"},\"range\":{\"code\":\"scheduler\",\"message_key\":\"authoritative_kinematics_range\"},\"geometry\":{\"radius\":130.25,\"rod_length\":269,\"tower_layout\":\"120-degree equilateral\"},\"boundaries\":[\"official kinematics oracle remains SOURCE_BLOCKED\",\"TRT/robot/Hexapod/Pentapod/switch/user remain queued\",\"missing ldelta HAL resources are retained as configuration gaps\"]}\n"
},
{
"command": [
@@ -287,8 +287,8 @@
"status": "passed",
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
"stderr_tail": "",
"stdout_sha256": "455bb34a953f78e42b3392d859e001086dfab4f6d48adb98ba3f9bc7c545f491",
"stdout_tail": "10.000000000717074,10.000000000717074],\"endpoint_hash\":\"fnv1a64:2b9d99b43dec0f25\"},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:2b9d99b43dec0f25\",\"actual_hash\":\"fnv1a64:2b9d99b43dec0f25\"},\"recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:85b2a8f5970c7e32\",\"actual_hash\":\"fnv1a64:85b2a8f5970c7e32\"}},\"checkpoint_hash\":\"fnv1a64:95c6e490b47e0043\",\"singular\":{\"message_key\":\"authoritative_kinematics_singular\"},\"unsupported\":{\"type\":\"xyzac-trt\",\"code\":\"authoritative_kinematics_unsupported\"},\"geometry\":{\"platform_radius\":10,\"thigh_length\":10,\"shin_length\":14,\"foot_radius\":6},\"boundaries\":[\"official kinematics oracle remains SOURCE_BLOCKED\",\"TRT/robot/Hexapod/Pentapod/switch/user remain queued\",\"missing rdelta HAL resources remain configuration gaps\"]}\n"
"stdout_sha256": "656ff23b047c61f3698556d6cbadb8bb2c602889335d8ccf78575de76c92a5c8",
"stdout_tail": "10.000000000717074,10.000000000717074],\"endpoint_hash\":\"fnv1a64:1b5b7845cc279e47\"},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:1b5b7845cc279e47\",\"actual_hash\":\"fnv1a64:1b5b7845cc279e47\"},\"recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:4456b951ad95e2ec\",\"actual_hash\":\"fnv1a64:4456b951ad95e2ec\"}},\"checkpoint_hash\":\"fnv1a64:db424cc8ecea9a45\",\"singular\":{\"message_key\":\"authoritative_kinematics_singular\"},\"unsupported\":{\"type\":\"xyzac-trt\",\"code\":\"authoritative_kinematics_unsupported\"},\"geometry\":{\"platform_radius\":10,\"thigh_length\":10,\"shin_length\":14,\"foot_radius\":6},\"boundaries\":[\"official kinematics oracle remains SOURCE_BLOCKED\",\"TRT/robot/Hexapod/Pentapod/switch/user remain queued\",\"missing rdelta HAL resources remain configuration gaps\"]}\n"
},
{
"command": [
@@ -300,8 +300,138 @@
"status": "passed",
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
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"stdout_sha256": "c586b8519a6fd27bda7b02bc7515eedebf01b1f92ea052a0b370896a1820f7e5",
"stdout_tail": "\"fixed_tick_phases\":[\"reconcile\",\"task\",\"tp\",\"kinematics\",\"motion\",\"hal_io\",\"callbacks\",\"publish\"]},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:17c6efd11e37c117\",\"actual_hash\":\"fnv1a64:17c6efd11e37c117\"},\"one_x_recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:4ce46780a4d9d6a0\",\"actual_hash\":\"fnv1a64:4ce46780a4d9d6a0\"},\"fast_recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:4ce46780a4d9d6a0\",\"actual_hash\":\"fnv1a64:4ce46780a4d9d6a0\"}},\"endpoint_hash\":\"fnv1a64:17c6efd11e37c117\",\"authoritative_hash\":\"fnv1a64:26649a9efc6276f0\",\"task_hash\":\"fnv1a64:27f97adf789499ce\",\"checkpoint_hash\":\"fnv1a64:7daa98c2234ad4fd\",\"boundaries\":[\"non-trivkins kinematics remain S6-03+\",\"full LinuxCNC canonical/native oracle remains explicitly blocked\"]}\n"
"stdout_sha256": "c40f3107fb25e8eebed74b826337908bc005077d1f0c2140dbde7c8bb3a87f9d",
"stdout_tail": "\"fixed_tick_phases\":[\"reconcile\",\"task\",\"tp\",\"kinematics\",\"motion\",\"hal_io\",\"callbacks\",\"publish\"]},\"parity\":{\"mode\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:2cb42c594943f07b\",\"actual_hash\":\"fnv1a64:2cb42c594943f07b\"},\"one_x_recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:8d47fffda5edd3da\",\"actual_hash\":\"fnv1a64:8d47fffda5edd3da\"},\"fast_recovery\":{\"equal\":true,\"difference\":null,\"expected_hash\":\"fnv1a64:8d47fffda5edd3da\",\"actual_hash\":\"fnv1a64:8d47fffda5edd3da\"}},\"endpoint_hash\":\"fnv1a64:2cb42c594943f07b\",\"authoritative_hash\":\"fnv1a64:a3603848d8533846\",\"task_hash\":\"fnv1a64:27f97adf789499ce\",\"checkpoint_hash\":\"fnv1a64:61445b64e9d439c0\",\"boundaries\":[\"non-trivkins kinematics remain S6-03+\",\"full LinuxCNC canonical/native oracle remains explicitly blocked\"]}\n"
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"stdout_sha256": "2fac97a3555e431b1e836727ac5315c684e73aae9dea9d40472dd13f098b1963",
"stdout_tail": "s-tutorial/3axis-tutorial.hal\",\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial\",\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial_mm.var\",\"linuxcnc/configs/nc_files/3dtest.ngc\",\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/tool.tbl\",\"linuxcnc/linuxcnc.gif\"],\"loader\":{\"fetched\":7,\"missing\":0,\"state_hash\":\"fnv1a64:94e21a5c7a684e63\"},\"startup\":{\"state\":\"TASK_READY\",\"hal_blocked\":0},\"operation_sequence\":[\"HOME\",\"JOG_START\",\"SIM_STEP\",\"JOG_STOP\",\"SET_OVERRIDE\",\"PROGRAM_LOAD\",\"PROGRAM_RUN\",\"CHECKPOINT\",\"SPINDLE_COMMAND\",\"COOLANT_COMMAND\",\"TOOL_PREPARE\",\"TOOL_CHANGE\",\"ESTOP\",\"IO_RECOVER\",\"RECOVER\"],\"observed\":{\"jog_x\":0.016,\"program_status\":\"completed\",\"checkpoint_hash\":\"fnv1a64:048eca9e5dd4e2df\",\"recovery\":\"recovered\",\"final_hash\":\"fnv1a64:4509e2eaf38657d7\"}}\n"
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{
"command": [
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"label": "web/worker/test_axis3_tutorial_hal_adapter.mjs",
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"status": "passed",
"stderr_sha256": "e3b0c44298fc1c149afbf4c8996fb92427ae41e4649b934ca495991b7852b855",
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"stdout_sha256": "0b683d9b780d5074eb5196c9424311cbe158eecb51b352828aa6777ac62bf0b9",
"stdout_tail": "{\"schema\":\"axis3-tutorial-hal-adapter.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"hal\":{\"record_count\":37,\"loadrt\":[\"trivkins\",\"motmod\",\"ddt\",\"hypot\"],\"net_count\":21,\"web_equivalent\":\"./3axis-tutorial\",\"capability\":\"WEB-EQUIV\"},\"startup\":{\"state\":\"TASK_READY\",\"hal_blocked\":0,\"state_hash\":\"fnv1a64:a7f7c05da5d79f9d\"}}\n"
},
{
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"stdout_sha256": "2c483fcd28e27f12d4cefab81fb4b5c070d57be6125b0d368fad0e09f5155b7e",
"stdout_tail": "{\"schema\":\"axis3-tutorial-motion.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"axes\":[\"X\",\"Y\",\"Z\"],\"home\":true,\"positions\":{\"x\":0.08,\"y\":-0.025,\"z\":-0.01},\"limits\":{\"blocked_code\":\"motion_faulted\",\"cleared\":true},\"following_error\":{\"blocked_code\":\"motion_faulted\"},\"snapshot_hash\":\"fnv1a64:5d30187951be107a\"}\n"
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{
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{
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"stdout_sha256": "c08d5b1b2c4102aba1b2eb67c474d98425b00676aa766f0c0a31229bfdd0f51f",
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{
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"stdout_sha256": "5e6a434cfccb61dc73274c03ec7bee38f54acf32f07c8e5d0126634d2afcca67",
"stdout_tail": "MAND_RESULT\",\"status\":\"verified\",\"code\":\"sim_io_ok\",\"state_hash\":\"fnv1a64:135fb60b4301fb56\"},{\"operation\":\"TOOL_PREPARED_T1\",\"kind\":\"TOOL_PREPARED\",\"seq\":19,\"tick\":11,\"response_kind\":\"COMMAND_RESULT\",\"status\":\"verified\",\"code\":\"sim_io_ok\",\"state_hash\":\"fnv1a64:ddbc5ae64aecc679\"},{\"operation\":\"TOOL_CHANGE_T1\",\"kind\":\"TOOL_CHANGE\",\"seq\":20,\"tick\":11,\"response_kind\":\"COMMAND_RESULT\",\"status\":\"verified\",\"code\":\"sim_io_ok\",\"state_hash\":\"fnv1a64:6bdc3f14d85b7ae7\"},{\"operation\":\"TOOL_CHANGED_T1\",\"kind\":\"TOOL_CHANGED\",\"seq\":21,\"tick\":11,\"response_kind\":\"COMMAND_RESULT\",\"status\":\"verified\",\"code\":\"sim_io_ok\",\"state_hash\":\"fnv1a64:5c31c79e9a721120\"}],\"checkpoint_hash\":\"fnv1a64:402cfc050703daba\",\"endpoint_hash\":\"fnv1a64:af27acb00b551d90\",\"sequence_hash\":\"fnv1a64:b30e83e92d4ffe52\",\"first_error\":null}\n"
},
{
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@@ -313,8 +443,8 @@
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@@ -391,8 +521,8 @@
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@@ -508,8 +638,8 @@
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@@ -521,8 +651,8 @@
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@@ -820,8 +950,8 @@
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@@ -833,8 +963,8 @@
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@@ -872,8 +1002,8 @@
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@@ -1041,8 +1275,8 @@
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@@ -1178,16 +1412,16 @@
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