58 lines
12 KiB
Markdown
58 lines
12 KiB
Markdown
# 任务证据索引
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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。
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当前指针：`nextTask.md`；当前 context：`linuxcnc-2.10.0-pre0-wasm-m1-py-c1`（与 `context-lock.json` 一致）。
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## 已验证节点
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| 节点 | 结果摘要 | 主要产物 |
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|---|---|---|
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| `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` |
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| `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` |
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| `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` |
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| `INV-03a` | native runner、golden schema 和严格 oracle 通过 | `scripts/native_runner.py`, `coverage/golden-schema.json` |
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| `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` |
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| `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` |
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| `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` |
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| `M1-RT-01` | runtime error/capability mapping fail-closed 通过 | `web/worker/error-map.mjs`, `web/worker/capabilities.mjs` |
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| `M1-RT-02` | 当前最近验证点；报告和脚本单测通过 | `coverage/runtime-mapping.report.json` |
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| `M2-CORE-01` | posemath/TP adapter、固定浮点、segment error boundary 和 state hash 通过 | `coverage/posemath-runtime.report.json` |
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| `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` |
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| `M2-CORE-03` | 固定容量 motion queue、连续性、fixed tick 和 canonical state 通过 | `coverage/motion-runtime.report.json` |
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| `M2-CORE-04` | blocked：锁定任务声明的 `linuxcnc/unit_tests/kinematics/**` 不存在 | `nextTask.md` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `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` |
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| `K4-PENTA-01` | Pentakins 五腿并联统一 forward/inverse/mapping；真实 `pentapod.ini`/`kinematics.hal` 与派生非零姿态 seed、XYZAB 映射、roll/pitch 约束、tool-offset 双端几何、Newton 5x5 收敛/迭代上限/最大误差/奇异/非正杆长/限位、native/WASM JSON 和 state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续 blocked | `coverage/pentapod-kinematics.report.json`, `wasm-core/src/sim_kinematics.c`, `scripts/generate_pentapod_kinematics_report.py` |
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| `K5-SWITCH-01` | switchkins 三槽位动态切换；真实 `xyzac-trt.ini`/`identityfirst` 配置、identity/xyzac-trt/userk 注册、pose 连续、状态保持、非法模式/缺模块/切换中断/abort 边界、native/WASM runner 与 state hash 对照通过；官方 oracle 因锁定来源缺少 `linuxcnc/unit_tests/kinematics/**` 继续显式 blocked | `coverage/switchkins-kinematics.report.json`, `wasm-core/src/sim_switchkins.c`, `wasm-core/tests/sim_switchkins_test.c` |
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| `K5-USER-01` | userk identity 模板与 ugenser/genser 构建期静态描述符；ABI v1、forward/inverse/static capability、switchkins type 2 绑定、FK/IK 调用状态、路径/`.so` 禁止、版本/能力/缺模块边界和 native/WASM state hash 对照通过；旧 ugenser CLI 明确排除，官方 oracle 继续 blocked | `coverage/userkins-kinematics.report.json`, `wasm-core/src/sim_userkins.c`, `wasm-core/tests/sim_userkins_test.c` |
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| `K5-CFG-01` | 18 个内建运动学类型的 ABI v1 构建期注册表；稳定名称/type、必需坐标、关节范围、7 类能力位、8 类参数掩码、18/18 实际 init、能力/参数/type/坐标/关节/未知/路径错误和 native/WASM registry hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-registry.report.json`, `wasm-core/src/sim_kinematics_registry.c`, `wasm-core/tests/sim_kinematics_registry_test.c` |
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| `K6-MOTION-01` | 固定 tick TP→IK→motion adapter；复用 `sim_tp` 和 `sim_kinematics_inverse_ex`，64 槽关节样本队列、pause/resume、IK 奇异、非有限、容量满、planner/kinematics 事务回滚、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-motion.report.json`, `wasm-core/src/sim_kinematics_motion.c`, `wasm-core/tests/sim_kinematics_motion_test.c` |
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| `K6-MOTION-02` | actual-joint→FK feedback adapter；pose/joint/flags/tick/valid/error 状态、stale/nonfinite/joint-count/unsupported-forward 边界、错误时不覆盖有效 pose、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-feedback.report.json`, `wasm-core/src/sim_kinematics_feedback.c`, `wasm-core/tests/sim_kinematics_feedback_test.c` |
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| `K6-HOME-01` | fixed home sequence、`sim_kinematics_home`、joint limit/FK check；未 home、非法 sequence、越界、非有限、joint-count、失败保持有效 pose/joints、native/WASM JSON 和 state hash 对照通过；官方 oracle 继续 blocked | `coverage/kinematics-home-limit.report.json`, `wasm-core/src/sim_kinematics_home_limit.c`, `wasm-core/tests/sim_kinematics_home_limit_test.c` |
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| `K6-IO-01` | 固定 tick spindle/tool/probe IO；motion/iocontrol pins、主轴限速/到速/定向、prepare/change/abort/fault、probe pose latch、停主轴互锁、非法 pin/超限/未 ready/急停/恢复边界和 native/WASM JSON/hash 对照通过；官方 IO/kinematics oracle 继续 blocked | `coverage/io-runtime.report.json`, `wasm-core/include/sim_io.h`, `wasm-core/src/sim_io.c`, `wasm-core/tests/sim_io_test.c` |
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| `K7-RECOVERY-01` | 固定 tick checkpoint/replay 与 workspace recovery 已接入；checkpoint 携带 context、cursor、snapshot/state hash 和 operation ledger；损坏 checkpoint、未知 schema、缺号/重复事件、未确认操作、abort 和恢复边界均 fail-closed；恢复终点与连续运行状态 hash 一致；native `sim_event_import` 与 Worker 对照通过，官方 recovery oracle 继续显式 blocked | `coverage/workspace-recovery.report.json`, `web/worker/replay.mjs`, `web/worker/sim-session.mjs`, `web/workspace/recovery.mjs`, `wasm-core/src/sim_event.c` |
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| `K8-REG-01` | 统一配置图确定性枚举 264 个运动学入口和 233 个 sim INI 入口；逐项资源/INI/注册表启动预检、缺失与未解析引用保留；图谱孤儿和未拥有模板为零；native/WASM kinematics/motion/feedback/home/IO 与 Worker replay/recovery 重复摘要稳定；官方 kinematics/recovery oracle 继续显式 blocked | `coverage/configuration-regression.report.json`, `scripts/generate_configuration_regression.py`, `scripts/test_configuration_regression.py`, `coverage/manifest.jsonl`, `context-lock.json` |
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## 追溯规则
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- 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。
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- 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。
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- 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。
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