135 lines
3.5 KiB
JSON
135 lines
3.5 KiB
JSON
{
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"component": {
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"name": "corexy_by_hal",
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"period": "fixed HAL tick",
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"pins": [
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"j0-motor-pos-cmd",
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"j1-motor-pos-cmd",
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"alpha-cmd",
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"beta-cmd",
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"alpha-fb",
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"beta-fb",
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"j0-motor-pos-fb",
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"j1-motor-pos-fb"
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],
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"thread": "servo-thread"
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},
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"config_scan": {
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"alpha_command_to_stepgen": true,
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"beta_command_to_stepgen": true,
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"component_command_formula": true,
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"component_feedback_formula": true,
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"hal_and_kins_entries_distinct": true,
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"home_j0_before_transform": true,
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"home_j1_before_transform": true,
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"loadrt_component": true,
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"servo_registration": true
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},
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"home_semantics": {
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"home_inputs": [
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"j0-motor-pos-cmd",
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"j1-motor-pos-cmd"
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],
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"kins_difference": "corexykins homes motor joints directly",
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"reason": "corexy_by_hal.hal routes Cartesian trivkins joint commands to j0home/j1home before alpha/beta stepgens",
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"status": "verified"
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},
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"implementation_status": "verified",
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"native_wasm": {
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"byte_identical_json": true,
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"native": {
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"command": {
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"alpha": 4.0,
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"beta": 2.0,
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"j0": 6.0,
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"j1": 2.0
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},
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"feedback": {
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"alpha": 4.0,
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"beta": 1.0,
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"j0": 5.0,
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"j1": 3.0
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},
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"function_calls": 1,
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"schema": "hal-corexy-sample.v1",
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"tick": 1
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},
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"status": "passed",
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"wasm": {
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"command": {
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"alpha": 4.0,
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"beta": 2.0,
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"j0": 6.0,
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"j1": 2.0
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},
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"feedback": {
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"alpha": 4.0,
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"beta": 1.0,
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"j0": 5.0,
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"j1": 3.0
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},
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"function_calls": 1,
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"schema": "hal-corexy-sample.v1",
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"tick": 1
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}
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},
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"oracle": {
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"reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
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"status": "blocked"
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},
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"report_sha256": "765c8318c48d7570773d22394c625c0d6c479fdf2e98c62fa48296b61e99c238",
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"schema": "corexy-hal-report.v1",
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"source_records": {
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"component": {
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"path": "linuxcnc/src/hal/components/corexy_by_hal.comp",
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"sha256": "7cb585058976198779600ee1d27f6b4e225a89c1c6ebcc7ba699291c9463e5a8"
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},
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"hal": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal",
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"sha256": "1199dbb80147dc3c5820833c322e9f0d9ba94ed866b1ef6d00425ad90e3156a1"
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},
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"hal_header": {
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"path": "wasm-core/include/sim_hal.h",
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"sha256": "f0b25fda1c267ed8078469c9966fa3b09721eba77c575affea77d489437a3e49"
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},
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"hal_source": {
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"path": "wasm-core/src/sim_hal.c",
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"sha256": "76a057064546a8ee9ba1098952755a4cdc56e6e714f2761b8a1826898d3ae621"
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},
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"hal_test": {
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"path": "wasm-core/tests/sim_hal_test.c",
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"sha256": "5044ed422b37499291ff85fd7c601acc6665621cf33e9ff4d26f0e8fd5b7d533"
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},
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"ini": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini",
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"sha256": "e838da30ce5fba2d049487d48bd2aeff46b1390a5a448f31980d9ce06121740f"
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},
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"kins_ini": {
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"path": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini",
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"sha256": "b6682cc5186944a44c2aa78501c4f350e56b4da1151348fa9fc3ece5f0eeea3a"
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}
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},
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"status": "partial",
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"transform": {
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"command": {
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"alpha": "0.5*(j0+j1)",
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"beta": "0.5*(j0-j1)"
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},
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"direction": "verified against LinuxCNC corexy_by_hal.comp",
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"feedback": {
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"j0": "alpha+beta",
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"j1": "alpha-beta"
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},
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"sample": {
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"alpha": 4.0,
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"alpha_fb": 4.0,
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"beta": 2.0,
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"beta_fb": 1.0,
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"j0": 6.0,
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"j0_fb": 5.0,
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"j1": 2.0,
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"j1_fb": 3.0
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}
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}
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}
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