{
  "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
    }
  }
}