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Complete 3axis tutorial native and Web/WASM parity tools

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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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coverage/wasm-only-source-audit.report.json Normal file
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{
"baseline": [
{
"command": [
"python3",
"scripts/test_axis3_tutorial_preview.py"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "preview",
"output_sha256": "99849d55e84d7006ae3b4b7fd4779ef7fb5d160bb52a489ed71f83708fb65052",
"output_tail": "{\"status\": \"verified\", \"program\": \"/home/mes006/linuxcncWebWASM/linuxcnc/nc_files/3dtest.ngc\", \"preview\": {\"schema\": \"wasm-preview.v1\", \"status\": \"verified\", \"source_path\": \"linuxcnc/nc_files/3dtest.ngc\", \"source_lines\": 55, \"segment_count\": 49, \"arc_lines\": [6, 23, 39], \"source\": \"wasm_interpreter_canonical_motion\"}}\n",
"returncode": 0,
"status": "verified"
},
{
"command": [
"node",
"web/worker/test_axis3_selected_case.mjs"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "selected_case_worker",
"output_sha256": "2fac97a3555e431b1e836727ac5315c684e73aae9dea9d40472dd13f098b1963",
"output_tail": "{\"schema\":\"axis3-selected-case-parity.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"machine\":{\"type\":\"cartesian_vismach\",\"axes\":[\"X\",\"Y\",\"Z\"],\"joints\":3,\"kinematics\":\"trivkins\",\"model\":\"3axis-tutorial\"},\"exact_files\":[\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"linuxcnc/configs/sim/axis/vismach/3axis-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",
"returncode": 0,
"status": "verified"
},
{
"command": [
"node",
"web/worker/test_axis3_visible_completion.mjs"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "visible_completion_worker",
"output_sha256": "621f5980f9ee4c56dafd57e108d3dd1c410aa77e8716c5b574cf887875e0a52e",
"output_tail": "{\"schema\":\"axis3-visible-completion.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"final_pose\":{\"x\":0,\"y\":0,\"z\":0},\"task_state\":\"STOPPED\",\"program_status\":\"completed\"}\n",
"returncode": 0,
"status": "verified"
},
{
"command": [
"node",
"web/worker/test_wasm_motion_event.mjs"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "wasm_motion_event",
"output_sha256": "d2dbbe772565019da46acde28215f48c5ed3c58f5695d23f91ea2c7ee98d7106",
"output_tail": "{\"schema\":\"wasm-motion-event.v1\",\"status\":\"verified\",\"events\":3,\"last_motion\":{\"source_line\":4,\"start\":{\"x\":10,\"y\":5,\"z\":0,\"a\":0,\"b\":0,\"c\":0,\"u\":0,\"v\":0,\"w\":0},\"end\":{\"x\":10,\"y\":5,\"z\":0,\"a\":0,\"b\":0,\"c\":0,\"u\":0,\"v\":0,\"w\":0},\"center\":{\"x\":11,\"y\":6,\"z\":0},\"normal\":{\"x\":0,\"y\":0,\"z\":1},\"velocity\":120,\"acceleration\":0,\"motion_type\":2,\"turn\":-1,\"source\":\"wasm_interpreter_canonical_motion\"}}\n",
"returncode": 0,
"status": "verified"
},
{
"command": [
"node",
"web/worker/test_wasm_motion_authority.mjs"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "wasm_motion_authority",
"output_sha256": "34f090eef3d78d77d192658fbc279f0bdd72fa038eef44cfdc0138d6068d3d8c",
"output_tail": "{\"schema\":\"wasm-motion-authority-t3.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"motion_authority\":\"wasm\",\"paused_position\":{\"x\":1.073312629199899,\"y\":0.5366563145999494,\"z\":0},\"resumed_position\":{\"x\":2.146625258399798,\"y\":1.073312629199899,\"z\":0},\"abort_queue_depth\":0,\"js_authority_calls\":0}\n",
"returncode": 0,
"status": "verified"
},
{
"command": [
"node",
"web/worker/test_wasm_motion_checkpoint.mjs"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "wasm_motion_checkpoint",
"output_sha256": "585c73a4f82d9b3e50de6a72279c0b01d21109d482f2f2f708ce8f5062127a0e",
"output_tail": "{\"schema\":\"wasm-motion-checkpoint-t3.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"checkpoint_hash\":\"fnv1a64:47ff90f3ab07c4c6\",\"continuous_hash\":\"fnv1a64:2c910bab8ffdf73a\",\"recovered_hash\":\"fnv1a64:2c910bab8ffdf73a\",\"endpoint_equal\":true,\"trace_import\":\"verified\",\"checkpoint_queue_depth\":1,\"blocked_damaged_checkpoint\":\"blocked\"}\n",
"returncode": 0,
"status": "verified"
},
{
"command": [
"node",
"web/worker/test_wasm_canonical_state.mjs"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "wasm_canonical_state",
"output_sha256": "48b41b755925d7065f99db25e11f042789f917d15107de23c3ef980c9f2978ba",
"output_tail": "{\"schema\":\"wasm-canonical-state-t4.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"task_authority\":\"wasm_task_canonical\",\"home_authority\":\"wasm_home_limit\",\"home_sequence\":5,\"home_tick\":1,\"motion_tick\":3,\"home_limit_tick\":6,\"js_task_tamper_ignored\":true}\n",
"returncode": 0,
"status": "verified"
},
{
"command": [
"node",
"web/worker/test_wasm_canonical_state_checkpoint.mjs"
],
"cwd": "/home/mes006/linuxcncWebWASM",
"name": "wasm_canonical_state_checkpoint",
"output_sha256": "401cfde5f23e77d8d938689c3a3ac6fe7777bafb118d3075ff353e99993ccdf7",
"output_tail": "{\"schema\":\"wasm-canonical-state-checkpoint-t4.v1\",\"status\":\"verified\",\"case\":\"linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini\",\"checkpoint_hash\":\"fnv1a64:9d9ea2a624703b46\",\"continuous_hash\":\"fnv1a64:2d696fc22acbbd38\",\"recovered_hash\":\"fnv1a64:2d696fc22acbbd38\",\"endpoint_equal\":true,\"trace_import\":\"verified\",\"damaged_home_state\":\"blocked\"}\n",
"returncode": 0,
"status": "verified"
},
{
"command": [
"npm",
"run",
"typecheck"
],
"cwd": "/home/mes006/linuxcncWebWASM/web/react",
"name": "react_typecheck",
"output_sha256": "08fb3e3d0d9396a56f8720eb15d9f6920f8a30c2dad7b0b6672ac446801f27e3",
"output_tail": "\n> linuxcnc-web-wasm-react@0.1.0 typecheck\n> tsc --noEmit\n\n",
"returncode": 0,
"status": "verified"
}
],
"completed_slices": [
"T1_INTERPRETER_MOTION_EVENT",
"T2_SELECTED_CASE_WASM_PREVIEW",
"T3_WASM_MOTION_QUEUE_SNAPSHOT",
"T3_SELECTED_MOTION_AUTHORITY",
"T3_WASM_MOTION_CHECKPOINT",
"T4_SELECTED_TASK_CANONICAL",
"T4_SELECTED_HOME_LIMIT_CANONICAL"
],
"js_authority_remaining": [
{
"path": "web/worker/authoritative-runtime.mjs",
"reason": "compatibility planner and pose mirror for non-selected cases",
"sha256": "c2bdd03de958ffda38553ec6dbddb4b1f5c08b2cb636ba02f25f2b76bdd61604",
"status": "compatibility_open"
},
{
"path": "web/worker/program-runner.mjs",
"reason": "program scheduling and control flow mirror; canonical segments enter WASM queue",
"sha256": "30f053429f8396b8f845e5faabe9912cb34aedb9440fcd35d7f507ba7e8975a2",
"status": "open"
},
{
"path": "web/worker/motion-state.mjs",
"reason": "home/jog/limit projection pending T4 canonical state",
"sha256": "f22d4bb1a3993f29e923b9f59987ae6599ddfe0dcdbe7fcc171e899480fae851",
"status": "open"
},
{
"path": "web/worker/sim-task.mjs",
"reason": "task state mirror pending T4 canonical state",
"sha256": "4b4b3aa4b86aba08e5afb8534d98d6ab11c845eeb891cf4793b5906a01de1599",
"status": "open"
}
],
"open_tasks": [
"T1_FULL_CANONICAL_CALLBACKS",
"T2_FULL_WASM_PREVIEW",
"T3_NON_SELECTED_MOTION_AUTHORITY",
"T4_HAL_IO_TOOL_PROBE_CANONICAL_STATE",
"T5_FULL_MATRIX"
],
"report_sha256": "77d15a3d51d9f14449c9cf31ef18249574b19ad7584f6c2b4f77c5c055d3daae",
"schema": "wasm-only-source-audit.v1",
"selected_case": "linuxcnc/configs/sim/axis/vismach/3axis-tutorial/3axis-tutorial.ini",
"selected_case_checkpoint_restore": "verified",
"selected_case_home_limit_authority": "wasm_home_limit",
"selected_case_motion_authority": "verified",
"selected_case_motion_source": "wasm_motion_queue",
"selected_case_task_authority": "wasm_task_canonical",
"source_of_truth_target": "linuxcnc_source_to_wasm_core_only",
"status": "blocked",
"stop_reason": "selected-case task/motion/home-limit canonical state and queue recovery are verified; HAL/IO/tool/probe, compatibility, non-selected motion authority, and full parity remain open",
"wasm_exports": {
"count": 207,
"domains": {
"hal_io": [
"sim_device_ack_abort",
"sim_device_ack_ack",
"sim_device_ack_issue",
"sim_device_ack_step",
"sim_device_canonical",
"sim_device_coolant_command",
"sim_device_coolant_set_fault",
"sim_device_door_set",
"sim_device_encoder_set_config",
"sim_device_encoder_set_index_enable",
"sim_device_encoder_set_speed",
"sim_device_estop_set",
"sim_device_init",
"sim_device_interlock_reset",
"sim_device_interlock_set",
"sim_device_reset",
"sim_device_state_hash",
"sim_device_step",
"sim_hal_component_count",
"sim_hal_connect",
"sim_hal_function_calls",
"sim_hal_function_count",
"sim_hal_get_param",
"sim_hal_get_pin",
"sim_hal_param_count",
"sim_hal_pin_count",
"sim_hal_register_component",
"sim_hal_register_function",
"sim_hal_register_pin",
"sim_hal_register_thread",
"sim_hal_reset",
"sim_hal_set_function_failure",
"sim_hal_set_param",
"sim_hal_set_pin",
"sim_hal_step",
"sim_hal_thread_count",
"sim_hal_tick",
"sim_io_canonical",
"sim_io_init",
"sim_io_probe_arm",
"sim_io_probe_disarm",
"sim_io_probe_update",
"sim_io_read_state",
"sim_io_recover",
"sim_io_register_pins",
"sim_io_reset",
"sim_io_set_estop",
"sim_io_spindle_command",
"sim_io_spindle_orient",
"sim_io_spindle_set_fault",
"sim_io_spindle_set_feedback",
"sim_io_spindle_set_index_enable",
"sim_io_spindle_set_inhibit",
"sim_io_spindle_set_oriented",
"sim_io_state_hash",
"sim_io_step",
"sim_io_tool_abort",
"sim_io_tool_change",
"sim_io_tool_clear_fault",
"sim_io_tool_prepare",
"sim_io_tool_set_changed",
"sim_io_tool_set_fault",
"sim_io_tool_set_prepared"
],
"interpreter": [
"sim_interpreter_block_hash",
"sim_interpreter_canonical",
"sim_interpreter_error_code",
"sim_interpreter_error_column",
"sim_interpreter_execute",
"sim_interpreter_init",
"sim_interpreter_modal_hash",
"sim_interpreter_motion_size",
"sim_interpreter_parameter_get",
"sim_interpreter_parameter_set",
"sim_interpreter_read_motion",
"sim_interpreter_read_state",
"sim_interpreter_reset",
"sim_interpreter_size",
"sim_interpreter_state_hash"
],
"motion": [
"sim_interpreter_motion_size",
"sim_interpreter_read_motion",
"sim_kinematics_motion_depth",
"sim_kinematics_motion_enqueue",
"sim_kinematics_motion_init",
"sim_kinematics_motion_pause",
"sim_kinematics_motion_peek",
"sim_kinematics_motion_pop",
"sim_kinematics_motion_reset",
"sim_kinematics_motion_state_hash",
"sim_kinematics_motion_step",
"sim_motion_canonical",
"sim_motion_command_size",
"sim_motion_enqueue",
"sim_motion_init",
"sim_motion_peek",
"sim_motion_plan_hash",
"sim_motion_queue_depth",
"sim_motion_read_state",
"sim_motion_reset",
"sim_motion_set_lookahead",
"sim_motion_set_profile",
"sim_motion_size",
"sim_motion_state_hash",
"sim_motion_state_size",
"sim_motion_step",
"sim_tp_enqueue",
"sim_tp_init",
"sim_tp_read_state",
"sim_tp_reset",
"sim_tp_state_hash",
"sim_tp_step"
],
"task_scheduler": [
"sim_scheduler_canonical",
"sim_scheduler_init",
"sim_scheduler_read",
"sim_scheduler_reset",
"sim_scheduler_restore",
"sim_scheduler_size",
"sim_scheduler_state_hash",
"sim_scheduler_step",
"sim_scheduler_tick",
"sim_task_attach",
"sim_task_canonical",
"sim_task_estop",
"sim_task_fault",
"sim_task_init",
"sim_task_read_state",
"sim_task_recover",
"sim_task_reset",
"sim_task_restore",
"sim_task_set_command",
"sim_task_set_mode",
"sim_task_set_program",
"sim_task_set_tick",
"sim_task_size",
"sim_task_state_hash",
"sim_task_transition"
]
},
"manifest": "/home/mes006/linuxcncWebWASM/build-wasm/build.ninja",
"manifest_sha256": "ab5d54956c30989bad2b1eeed28092454b77f1e3c7474dcfe495bde8fd65a5de",
"names": [
"sim_command",
"sim_create",
"sim_destroy",
"sim_device_ack_abort",
"sim_device_ack_ack",
"sim_device_ack_issue",
"sim_device_ack_step",
"sim_device_canonical",
"sim_device_coolant_command",
"sim_device_coolant_set_fault",
"sim_device_door_set",
"sim_device_encoder_set_config",
"sim_device_encoder_set_index_enable",
"sim_device_encoder_set_speed",
"sim_device_estop_set",
"sim_device_init",
"sim_device_interlock_reset",
"sim_device_interlock_set",
"sim_device_reset",
"sim_device_state_hash",
"sim_device_step",
"sim_event_append",
"sim_event_count",
"sim_event_cursor",
"sim_event_export",
"sim_event_import",
"sim_event_read",
"sim_event_reset",
"sim_export_state",
"sim_hal_component_count",
"sim_hal_connect",
"sim_hal_function_calls",
"sim_hal_function_count",
"sim_hal_get_param",
"sim_hal_get_pin",
"sim_hal_param_count",
"sim_hal_pin_count",
"sim_hal_register_component",
"sim_hal_register_function",
"sim_hal_register_pin",
"sim_hal_register_thread",
"sim_hal_reset",
"sim_hal_set_function_failure",
"sim_hal_set_param",
"sim_hal_set_pin",
"sim_hal_step",
"sim_hal_thread_count",
"sim_hal_tick",
"sim_import_state",
"sim_interpreter_block_hash",
"sim_interpreter_canonical",
"sim_interpreter_error_code",
"sim_interpreter_error_column",
"sim_interpreter_execute",
"sim_interpreter_init",
"sim_interpreter_modal_hash",
"sim_interpreter_motion_size",
"sim_interpreter_parameter_get",
"sim_interpreter_parameter_set",
"sim_interpreter_read_motion",
"sim_interpreter_read_state",
"sim_interpreter_reset",
"sim_interpreter_size",
"sim_interpreter_state_hash",
"sim_io_canonical",
"sim_io_init",
"sim_io_probe_arm",
"sim_io_probe_disarm",
"sim_io_probe_update",
"sim_io_read_state",
"sim_io_recover",
"sim_io_register_pins",
"sim_io_reset",
"sim_io_set_estop",
"sim_io_spindle_command",
"sim_io_spindle_orient",
"sim_io_spindle_set_fault",
"sim_io_spindle_set_feedback",
"sim_io_spindle_set_index_enable",
"sim_io_spindle_set_inhibit",
"sim_io_spindle_set_oriented",
"sim_io_state_hash",
"sim_io_step",
"sim_io_tool_abort",
"sim_io_tool_change",
"sim_io_tool_clear_fault",
"sim_io_tool_prepare",
"sim_io_tool_set_changed",
"sim_io_tool_set_fault",
"sim_io_tool_set_prepared",
"sim_kinematics_feedback_init",
"sim_kinematics_feedback_read",
"sim_kinematics_feedback_reset",
"sim_kinematics_feedback_state_hash",
"sim_kinematics_feedback_update",
"sim_kinematics_forward",
"sim_kinematics_forward_ex",
"sim_kinematics_home",
"sim_kinematics_home_limit_check",
"sim_kinematics_home_limit_home",
"sim_kinematics_home_limit_init",
"sim_kinematics_home_limit_read",
"sim_kinematics_home_limit_reset",
"sim_kinematics_home_limit_state_hash",
"sim_kinematics_init",
"sim_kinematics_inverse",
"sim_kinematics_inverse_ex",
"sim_kinematics_motion_depth",
"sim_kinematics_motion_enqueue",
"sim_kinematics_motion_init",
"sim_kinematics_motion_pause",
"sim_kinematics_motion_peek",
"sim_kinematics_motion_pop",
"sim_kinematics_motion_reset",
"sim_kinematics_motion_state_hash",
"sim_kinematics_motion_step",
"sim_kinematics_registry_count",
"sim_kinematics_registry_find",
"sim_kinematics_registry_get",
"sim_kinematics_registry_require",
"sim_kinematics_registry_state_hash",
"sim_kinematics_registry_validate_config",
"sim_kinematics_state_hash",
"sim_kinematics_switch_abort",
"sim_kinematics_switch_active",
"sim_kinematics_switch_begin",
"sim_kinematics_switch_commit",
"sim_kinematics_switch_forward",
"sim_kinematics_switch_init",
"sim_kinematics_switch_inverse",
"sim_kinematics_switch_register",
"sim_kinematics_switch_select",
"sim_kinematics_switch_state_hash",
"sim_kinematics_user_bind_switch",
"sim_kinematics_user_forward",
"sim_kinematics_user_init",
"sim_kinematics_user_inverse",
"sim_kinematics_user_reject_dynamic",
"sim_kinematics_user_state_hash",
"sim_kinematics_validate_pose",
"sim_load_workspace",
"sim_motion_canonical",
"sim_motion_command_size",
"sim_motion_enqueue",
"sim_motion_init",
"sim_motion_peek",
"sim_motion_plan_hash",
"sim_motion_queue_depth",
"sim_motion_read_state",
"sim_motion_reset",
"sim_motion_set_lookahead",
"sim_motion_set_profile",
"sim_motion_size",
"sim_motion_state_hash",
"sim_motion_state_size",
"sim_motion_step",
"sim_posemath_dot",
"sim_posemath_hash_state",
"sim_posemath_is_finite",
"sim_posemath_line_point",
"sim_posemath_normalize",
"sim_posemath_pose_is_finite",
"sim_posemath_pose_line_point",
"sim_posemath_segment_point",
"sim_posemath_segment_validate",
"sim_protocol_accept",
"sim_protocol_last_seq",
"sim_protocol_pause",
"sim_protocol_reset",
"sim_protocol_resume",
"sim_protocol_set_tick",
"sim_protocol_state_value",
"sim_protocol_tick",
"sim_read_event",
"sim_read_snapshot",
"sim_scheduler_canonical",
"sim_scheduler_init",
"sim_scheduler_read",
"sim_scheduler_reset",
"sim_scheduler_restore",
"sim_scheduler_size",
"sim_scheduler_state_hash",
"sim_scheduler_step",
"sim_scheduler_tick",
"sim_step",
"sim_task_attach",
"sim_task_canonical",
"sim_task_estop",
"sim_task_fault",
"sim_task_init",
"sim_task_read_state",
"sim_task_recover",
"sim_task_reset",
"sim_task_restore",
"sim_task_set_command",
"sim_task_set_mode",
"sim_task_set_program",
"sim_task_set_tick",
"sim_task_size",
"sim_task_state_hash",
"sim_task_transition",
"sim_tp_enqueue",
"sim_tp_init",
"sim_tp_read_state",
"sim_tp_reset",
"sim_tp_state_hash",
"sim_tp_step"
]
}
}