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plcopen RT 周期路径纪律——编辑 core/{rt,otg,geom,exec,kin,stream,adapters} 或任何 cycle()/sample() 路径时的硬约束。Use when writing or modifying cycle-path code in core/.
Codex 또는 Claude로 설치 이 Prompt를 복사해 Codex, Claude 또는 다른 어시스턴트에 붙여 넣으면 Skill 페이지를 검토하고 설치를 진행할 수 있습니다.
SOC 직업 분류 기준
| name | plcopen-rt-safety |
| description | plcopen RT 周期路径纪律——编辑 core/{rt,otg,geom,exec,kin,stream,adapters} 或任何 cycle()/sample() 路径时的硬约束。Use when writing or modifying cycle-path code in core/. |
确定性是全局属性：1 处违例即破功。周期路径（每插补周期执行的代码） 五禁：
std::function、string、容器扩容。用
rt::StaticVector / 定长数组；容量是编译期常量并在注释里给依据。rt::SpscQueue。rt::ErrorCode / rt::Result<T>；核心目标以
-fno-exceptions 编译（MSVC /EHs-c-）。rt::CycleTick，
std::int64_t *_cycles）；禁 t += dt 浮点时间累加（T8）。infeasible 而非等收敛）。贵的计算放规划域（submit 时/engage 时，非 RT）：帧换算、逆解、 样条求解、窗口扫描、OTG 规划。周期路径只做 O(1)：查表、多项式求值、 状态推进。判断口径：这段代码每周期都跑吗？
plcopen_core_a2_alloc_guard（冻结窗口内计数 new）会抓漏网cmake -P cmake/rt_safety_scan.cmake（词法级，误报坑见
plcopen-gates）；新增 RT 目录要加进 RT_DIRS，install 的
install(DIRECTORY ...) 列表同步RT-SAFE 标记纳入扫描plcopen 对抗性探测轮——系统性猎杀未声明缺陷（KB-051 方法论流程化）。Use when a milestone closes, when the maintainer questions a capability claim, or when auditing semantic parity across domains.
plcopen 提交前门禁——全量测试、RT 扫描、回放校验的准确命令与已知误报坑。Use before any commit/push in this repo, when the user says 门禁/gates, or when another skill finishes an implementation step.
plcopen 提交信息格式——angular 类型 + 中文四段正文 + KB/声明变更标注 + AI 声明。Use when committing in this repository.
plcopen 出处纪律——禁止来源清单与外部代码/文档引入规则。Use before referencing external implementations, vendoring third-party content, or writing planner/OTG/blending algorithms.
plcopen 新特性/新语义的规格先行全流程（语义矩阵 → 人批 → 测试先行 → 门禁 → 文档同步）。Use when adding any new capability, FB semantics, planner behavior, or when the user proposes a feature touching core/.
Review the changes since a fixed point (commit, branch, tag, or merge-base) along two axes — Standards (does the code follow this repo's documented coding standards?) and Spec (does the code match what the originating issue/PRD asked for?). Runs both reviews in parallel sub-agents and reports them side by side. Use when the user wants to review a branch, a PR, work-in-progress changes, or asks to "review since X".