746 lines
32 KiB
JavaScript
746 lines
32 KiB
JavaScript
import { mkdir, readFile, writeFile } from "node:fs/promises";
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import { dirname, resolve } from "node:path";
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import { fileURLToPath } from "node:url";
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const repoRoot = resolve(dirname(fileURLToPath(import.meta.url)), "../..");
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const projectRoot = resolve(repoRoot, "web-rtcp-5axis-xyzbc-trt-sim-plan");
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const nativePath = process.argv[2] || resolve(projectRoot, "working/evidence/native-xyzbc-trt-evidence.json");
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const webPath = process.argv[3] || resolve(projectRoot, "working/evidence/web-xyzbc-trt-evidence.json");
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const outputPath = process.argv[4] || resolve(projectRoot, "working/evidence/compare-xyzbc-trt-evidence.json");
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const PREVIEW_TCP_MAX_ERROR_MM = 0.001;
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const PREVIEW_JOINT_MAX_ERROR = 0.001;
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const PREVIEW_TOOL_AXIS_MAX_ERROR_DEG = 0.001;
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const EXECUTION_TCP_MAX_ERROR_MM = 0.001;
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const EXECUTION_JOINT_MAX_ERROR = 0.001;
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const EXECUTION_TOOL_AXIS_MAX_ERROR_DEG = 0.001;
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const nativeEvidence = JSON.parse(await readFile(nativePath, "utf8"));
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const webEvidence = JSON.parse(await readFile(webPath, "utf8"));
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const pathComparison = comparePathEvidence(nativeEvidence, webEvidence);
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const lineExecutionComparison = compareLineExecutionTrace(nativeEvidence, webEvidence);
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const axisValuesByLineComparison = compareAxisValuesByLine(nativeEvidence, webEvidence);
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const gcodeExecutionProcessComparison = compareGcodeExecutionProcess(nativeEvidence, webEvidence);
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const checks = [
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check("profile", "native axis mask is XYZBC", nativeEvidence.coverage?.axisProfile === true, {
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nativeAxisMask: nativeEvidence.after?.axisMask ?? nativeEvidence.before?.axisMask,
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}),
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check("profile", "web default profile is xyzbc-trt", webEvidence.coverage?.profileDefaultXyzbc === true, {
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webProfile: webEvidence.profile?.id,
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}),
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check("ini", "native loaded xyzbc switchkins program", nativeEvidence.coverage?.xyzbcProgramOpen === true, {
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nativeFile: nativeEvidence.after?.file ?? nativeEvidence.before?.file,
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}),
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check("ini", "web INI parse is ready", webEvidence.coverage?.iniReady === true, {
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webIniReady: webEvidence.ini?.ready,
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}),
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check("switchkins", "native switchkins pin readable", nativeEvidence.coverage?.switchkinsPinReadable === true, {
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nativePin: nativeEvidence.hal?.pins?.["motion.switchkins-type"],
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}),
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check("switchkins", "web remap files staged", webEvidence.coverage?.remapsStaged === true, {
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remaps: webEvidence.ini?.remaps,
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}),
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check("program", "web default xyzbc_switchkins program staged", webEvidence.coverage?.defaultProgramStaged === true, {
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selected: webEvidence.opfsStaging?.selectedProgram,
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}),
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check("tool-table", "web tool table staged", webEvidence.coverage?.toolTableStaged === true, {
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toolTable: webEvidence.ini?.toolTable,
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}),
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check("tool-table", "web tool table active offset drives kinematics, path, and Vismach", webEvidence.coverage?.toolTableToToolOffsetClosed === true, {
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toolRuntime: {
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activeToolNumber: webEvidence.toolRuntime?.activeToolNumber,
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activePocket: webEvidence.toolRuntime?.activePocket,
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kinematicsToolOffsetZ: webEvidence.toolRuntime?.kinematics?.toolOffsetZ,
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pathTool: webEvidence.toolRuntime?.pathTool,
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vismachToolOffset: webEvidence.toolRuntime?.vismach?.toolOffset,
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defaultActivationUsed: webEvidence.toolRuntime?.defaultActivationUsed,
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},
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toolOffsetClosure: webEvidence.toolOffsetClosure,
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}),
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check("pyvcp", "web PyVCP XML staged", webEvidence.coverage?.pyvcpXmlStaged === true, {
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pyvcpXmlPath: webEvidence.profile?.pyvcpXmlPath,
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}),
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check("positions", "native joint feedback readable", nativeEvidence.coverage?.jointFeedbackReadable === true, {
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joints: nativeEvidence.after?.jointActualPosition,
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}),
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check("wasm", "required WASM artifacts available", webEvidence.coverage?.wasmArtifactsReady === true, {
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missing: webEvidence.wasm?.missing,
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}),
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check("parameters", "parameter file staged", webEvidence.coverage?.parameterFileStaged === true, {
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parameterFile: webEvidence.ini?.parameterFile,
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}),
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check("program", "web boat-xyzbc demo program staged", webEvidence.coverage?.boatProgramStaged === true, {
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demoPrograms: webEvidence.demoPrograms,
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}),
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check("ngcgui", "web Ngcgui/remap subroutines staged", webEvidence.coverage?.ngcguiSubroutinesStaged === true, {
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ngcguiSubroutines: webEvidence.ngcguiSubroutines,
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}),
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check("ngcgui", "web Ngcgui/remap subroutines execute through WASM interpreter wrappers", webEvidence.coverage?.ngcguiSubroutinesExecutable === true, {
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ngcguiExecution: webEvidence.ngcguiExecution,
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}),
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check("postgui-hal", "web PyVCP to HALUI POSTGUI nets represented", webEvidence.coverage?.postguiHalEquivalent === true, {
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halNets: webEvidence.halNets,
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}),
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check("basic-sim", "native basic_sim joint/home/spindle/toolchange feedback readable", nativeEvidence.coverage?.basicSimReadable === true, {
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basicSimEquivalent: nativeEvidence.basicSimEquivalent,
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}),
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check("basic-sim", "web task/HAL basic_sim equivalent covers joint/home/spindle/toolchange feedback", webEvidence.coverage?.basicSimEquivalent === true, {
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basicSimEquivalent: webEvidence.basicSimEquivalent,
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taskHalEquivalence: webEvidence.taskHalEquivalence,
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}),
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check("kinematics", "web kinematics HAL pins represented", webEvidence.coverage?.kinematicsPinsCovered === true, {
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kinematicsPins: webEvidence.kinematicsPins,
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}),
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check("limits", "web TRAJ/AXIS/JOINT limits represented", webEvidence.coverage?.axisJointLimitsCovered === true, {
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axisJointLimits: webEvidence.axisJointLimits,
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}),
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check("ui", "web AXIS first screen exposes program, coordinates, status, MDI/switchkins, override, tool, preview, and execution", webEvidence.coverage?.axisMainUiEquivalent === true, {
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axisMainUi: webEvidence.axisMainUi,
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}),
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check("ui", "web AXIS/PyVCP buttons are source-referenced and covered by a button-level parity matrix", webEvidence.coverage?.axisButtonParityCovered === true, {
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axisButtonParity: webEvidence.axisMainUi?.axisButtonParity,
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}),
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check("ui", "web UI state flow, buttons, HAL pins, and paths are rechecked against native xyzbc-trt runtime", webEvidence.coverage?.nativeStateFlowRechecked === true && nativeEvidence.coverage?.taskStateFlowReadable === true, {
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nativeTaskStateFlow: nativeEvidence.taskStateFlow,
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webNativeStateFlowReview: webEvidence.nativeStateFlowReview,
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}),
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check("path-preview", "native and web preview path sample period is 50ms", pathComparison.previewVsPreview.periodsMatch === true, {
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nativeSamplePeriodMs: pathComparison.previewVsPreview.nativeSamplePeriodMs,
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webSamplePeriodMs: pathComparison.previewVsPreview.webSamplePeriodMs,
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}),
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check("path-preview", "native and web preview paths have samples", pathComparison.previewVsPreview.comparable === true, {
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nativeSampleCount: pathComparison.previewVsPreview.nativeSampleCount,
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webSampleCount: pathComparison.previewVsPreview.webSampleCount,
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unavailable: pathComparison.previewVsPreview.unavailable,
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}),
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check("path-preview", "native and web preview tool paths are geometrically aligned", pathComparison.previewVsPreview.geometricAligned === true, {
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thresholds: pathComparison.previewVsPreview.thresholds,
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maxTcpErrorMm: pathComparison.previewVsPreview.maxTcpErrorMm,
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rmsTcpErrorMm: pathComparison.previewVsPreview.rmsTcpErrorMm,
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maxJointError: pathComparison.previewVsPreview.maxJointError,
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maxToolAxisAngleDeg: pathComparison.previewVsPreview.maxToolAxisAngleDeg,
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sampleCountDelta: pathComparison.previewVsPreview.sampleCountDelta,
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}),
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check("path-execution", "native and web execution path sample period is 50ms", pathComparison.executionVsExecution.periodsMatch === true, {
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nativeSamplePeriodMs: pathComparison.executionVsExecution.nativeSamplePeriodMs,
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webSamplePeriodMs: pathComparison.executionVsExecution.webSamplePeriodMs,
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}),
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check("path-execution", "native and web execution paths have samples", pathComparison.executionVsExecution.comparable === true, {
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nativeSampleCount: pathComparison.executionVsExecution.nativeSampleCount,
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webSampleCount: pathComparison.executionVsExecution.webSampleCount,
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unavailable: pathComparison.executionVsExecution.unavailable,
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}),
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check("path-execution", "native and web source-expanded execution paths are geometrically aligned", pathComparison.semanticExecutionVsSemanticExecution.geometricAligned === true, {
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thresholds: pathComparison.semanticExecutionVsSemanticExecution.thresholds,
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nativeSampleCount: pathComparison.semanticExecutionVsSemanticExecution.nativeSampleCount,
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webSampleCount: pathComparison.semanticExecutionVsSemanticExecution.webSampleCount,
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maxTcpErrorMm: pathComparison.semanticExecutionVsSemanticExecution.maxTcpErrorMm,
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rmsTcpErrorMm: pathComparison.semanticExecutionVsSemanticExecution.rmsTcpErrorMm,
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maxJointError: pathComparison.semanticExecutionVsSemanticExecution.maxJointError,
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maxToolAxisAngleDeg: pathComparison.semanticExecutionVsSemanticExecution.maxToolAxisAngleDeg,
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machineStateMismatchCount: pathComparison.semanticExecutionVsSemanticExecution.machineStateMismatchCount,
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sampleCountDelta: pathComparison.semanticExecutionVsSemanticExecution.sampleCountDelta,
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}),
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check("line-execution", "native and web per-line G-code execution trace matches", lineExecutionComparison.status === "pass", {
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nativeTraceCount: lineExecutionComparison.nativeTraceCount,
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webTraceCount: lineExecutionComparison.webTraceCount,
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mismatchCount: lineExecutionComparison.mismatchCount,
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mismatches: lineExecutionComparison.mismatches.slice(0, 10),
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}),
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check("axis-values", "native and web actual axis values by executed line match", axisValuesByLineComparison.status === "pass", {
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nativeLineValueCount: axisValuesByLineComparison.nativeLineValueCount,
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webLineValueCount: axisValuesByLineComparison.webLineValueCount,
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thresholds: axisValuesByLineComparison.thresholds,
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maxTcpErrorMm: axisValuesByLineComparison.maxTcpErrorMm,
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maxJointError: axisValuesByLineComparison.maxJointError,
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maxToolAxisAngleDeg: axisValuesByLineComparison.maxToolAxisAngleDeg,
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mismatchCount: axisValuesByLineComparison.mismatchCount,
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mismatches: axisValuesByLineComparison.mismatches.slice(0, 10),
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}),
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check("gcode-process", "native and web complete G-code execution process JSON matches", gcodeExecutionProcessComparison.status === "pass", {
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nativeExecutionStepCount: gcodeExecutionProcessComparison.nativeExecutionStepCount,
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webExecutionStepCount: gcodeExecutionProcessComparison.webExecutionStepCount,
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nativeSourceLineCoverageCount: gcodeExecutionProcessComparison.nativeSourceLineCoverageCount,
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webSourceLineCoverageCount: gcodeExecutionProcessComparison.webSourceLineCoverageCount,
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mismatchCount: gcodeExecutionProcessComparison.mismatchCount,
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mismatches: gcodeExecutionProcessComparison.mismatches.slice(0, 10),
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}),
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check("path-preview-execution-consistency", "native preview and execution paths are comparable", pathComparison.previewVsExecutionNative.comparable === true, {
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nativePreviewSampleCount: pathComparison.previewVsExecutionNative.leftSampleCount,
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nativeExecutionSampleCount: pathComparison.previewVsExecutionNative.rightSampleCount,
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unavailable: pathComparison.previewVsExecutionNative.unavailable,
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}),
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check("path-preview-execution-consistency", "web preview and execution paths are comparable", pathComparison.previewVsExecutionWeb.comparable === true, {
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webPreviewSampleCount: pathComparison.previewVsExecutionWeb.leftSampleCount,
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webExecutionSampleCount: pathComparison.previewVsExecutionWeb.rightSampleCount,
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unavailable: pathComparison.previewVsExecutionWeb.unavailable,
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}),
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];
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const failed = checks.filter((item) => item.status !== "pass");
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const blockers = [
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...(nativeEvidence.status === "blocked" ? nativeEvidence.blocker ? [nativeEvidence.blocker] : ["native-blocked"] : []),
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...(webEvidence.blockers || []).map((blocker) => blocker.id),
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];
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const report = {
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apiName: "xyzbc-trt-native-web-evidence-comparison",
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status: failed.length === 0 ? "pass" : "fail",
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comparedAt: new Date().toISOString(),
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nativePath,
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webPath,
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summary: {
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checkCount: checks.length,
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passCount: checks.length - failed.length,
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failCount: failed.length,
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blockers,
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nativeStatus: nativeEvidence.status,
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webStatus: webEvidence.status,
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},
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checks,
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pathComparison,
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lineExecutionComparison,
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axisValuesByLineComparison,
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gcodeExecutionProcessComparison,
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requiredImprovements: failed.map((item) => ({
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category: item.category,
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requirement: item.requirement,
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evidence: item.evidence,
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})),
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semanticBoundary: "native_linuxcnc_vs_web_opfs_wasm_xyzbc_trt_evidence_comparison",
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};
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await mkdir(dirname(outputPath), { recursive: true });
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await writeFile(outputPath, JSON.stringify(report, null, 2) + "\n", "utf8");
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console.log(`compare_xyzbc_trt_evidence=${outputPath}`);
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if (failed.length > 0) {
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console.log(`compare_xyzbc_trt_status=fail fail_count=${failed.length}`);
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} else {
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console.log("compare_xyzbc_trt_status=pass");
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}
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function check(category, requirement, passed, evidence = {}) {
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return {
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category,
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requirement,
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status: passed ? "pass" : "fail",
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evidence,
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};
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}
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function comparePathEvidence(nativeEvidence, webEvidence) {
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const samplePeriodMs = 50;
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return {
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samplePeriodMs,
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previewVsPreview: compareNamedPaths({
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left: nativeEvidence.previewPath,
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right: webEvidence.previewPath,
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leftName: "native",
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rightName: "web",
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expectedSamplePeriodMs: samplePeriodMs,
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}),
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executionVsExecution: compareNamedPaths({
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left: nativeEvidence.executionPath,
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right: webEvidence.executionPath,
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leftName: "native",
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rightName: "web",
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expectedSamplePeriodMs: samplePeriodMs,
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strictGeometry: false,
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}),
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semanticExecutionVsSemanticExecution: compareNamedPaths({
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left: nativeEvidence.semanticExecutionPath,
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right: webEvidence.semanticExecutionPath,
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leftName: "native",
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rightName: "web",
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expectedSamplePeriodMs: samplePeriodMs,
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strictGeometry: true,
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thresholds: {
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maxTcpErrorMm: EXECUTION_TCP_MAX_ERROR_MM,
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maxJointError: EXECUTION_JOINT_MAX_ERROR,
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maxToolAxisAngleDeg: EXECUTION_TOOL_AXIS_MAX_ERROR_DEG,
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sampleCountDelta: 0,
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},
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}),
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previewVsExecutionNative: compareNamedPaths({
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left: nativeEvidence.previewPath,
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right: nativeEvidence.executionPath,
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leftName: "nativePreview",
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rightName: "nativeExecution",
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expectedSamplePeriodMs: samplePeriodMs,
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}),
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previewVsExecutionWeb: compareNamedPaths({
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left: webEvidence.previewPath,
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right: webEvidence.executionPath,
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leftName: "webPreview",
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rightName: "webExecution",
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expectedSamplePeriodMs: samplePeriodMs,
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}),
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};
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}
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function compareNamedPaths({
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left,
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right,
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leftName,
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rightName,
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expectedSamplePeriodMs,
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strictGeometry = leftName === "native" && rightName === "web",
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thresholds = null,
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}) {
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const leftSamplePeriodMs = left?.samplePeriodMs ?? null;
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const rightSamplePeriodMs = right?.samplePeriodMs ?? null;
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const periodsMatch = leftSamplePeriodMs === expectedSamplePeriodMs
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&& rightSamplePeriodMs === expectedSamplePeriodMs;
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const leftSamples = Array.isArray(left?.samples) ? left.samples : [];
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const rightSamples = Array.isArray(right?.samples) ? right.samples : [];
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const comparable = periodsMatch && leftSamples.length > 0 && rightSamples.length > 0;
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const unavailable = [
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...(leftSamples.length > 0 ? [] : [`${leftName}: ${left?.unavailableReason || "missing samples"}`]),
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...(rightSamples.length > 0 ? [] : [`${rightName}: ${right?.unavailableReason || "missing samples"}`]),
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...(periodsMatch ? [] : [`sample period mismatch ${leftSamplePeriodMs}/${rightSamplePeriodMs}`]),
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];
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const stats = comparable ? pathStats(leftSamples, rightSamples) : emptyStats(leftSamples, rightSamples);
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const resolvedThresholds = strictGeometry ? (thresholds || {
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maxTcpErrorMm: PREVIEW_TCP_MAX_ERROR_MM,
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maxJointError: PREVIEW_JOINT_MAX_ERROR,
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maxToolAxisAngleDeg: PREVIEW_TOOL_AXIS_MAX_ERROR_DEG,
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sampleCountDelta: 0,
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}) : null;
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const geometricAligned = strictGeometry
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? comparable
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&& stats.maxTcpErrorMm <= resolvedThresholds.maxTcpErrorMm
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&& stats.maxJointError <= resolvedThresholds.maxJointError
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&& stats.maxToolAxisAngleDeg <= resolvedThresholds.maxToolAxisAngleDeg
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&& stats.sampleCountDelta <= resolvedThresholds.sampleCountDelta
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&& stats.machineStateMismatchCount === 0
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&& stats.missingSamples.length === 0
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: comparable;
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return {
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status: comparable && (!strictGeometry || geometricAligned) ? "pass" : "fail",
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comparable,
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geometricAligned,
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thresholds: resolvedThresholds,
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periodsMatch,
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[`${leftName}SamplePeriodMs`]: leftSamplePeriodMs,
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[`${rightName}SamplePeriodMs`]: rightSamplePeriodMs,
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nativeSamplePeriodMs: leftName === "native" ? leftSamplePeriodMs : undefined,
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webSamplePeriodMs: rightName === "web" ? rightSamplePeriodMs : undefined,
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leftSampleCount: leftSamples.length,
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rightSampleCount: rightSamples.length,
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nativeSampleCount: leftName === "native" ? leftSamples.length : undefined,
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webSampleCount: rightName === "web" ? rightSamples.length : undefined,
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unavailable,
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...stats,
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};
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}
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function compareLineExecutionTrace(nativeEvidence, webEvidence) {
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const nativeTrace = Array.isArray(nativeEvidence.lineExecutionTrace)
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? nativeEvidence.lineExecutionTrace
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: nativeEvidence.semanticExecutionPath?.lineExecutionTrace || [];
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const webTrace = Array.isArray(webEvidence.lineExecutionTrace)
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? webEvidence.lineExecutionTrace
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: webEvidence.semanticExecutionPath?.lineExecutionTrace || [];
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const count = Math.min(nativeTrace.length, webTrace.length);
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const mismatches = [];
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for (let index = 0; index < count; index += 1) {
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const left = nativeTrace[index];
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const right = webTrace[index];
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const keys = ["sourceFile", "line", "operation", "motionType", "activeKinematicsAfter", "producesMotion", "segmentIndex"];
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const differences = keys
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.filter((key) => normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key]))
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.map((key) => ({ key, native: left?.[key], web: right?.[key] }));
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if (differences.length > 0) {
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mismatches.push({
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index,
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native: projectTraceEntry(left),
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web: projectTraceEntry(right),
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differences,
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});
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}
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}
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if (nativeTrace.length !== webTrace.length) {
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mismatches.push({
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index: count,
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differences: [{
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key: "traceCount",
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native: nativeTrace.length,
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web: webTrace.length,
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}],
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});
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}
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return {
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status: mismatches.length === 0 && nativeTrace.length > 0 && webTrace.length > 0 ? "pass" : "fail",
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nativeTraceCount: nativeTrace.length,
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webTraceCount: webTrace.length,
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mismatchCount: mismatches.length,
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mismatches,
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semanticBoundary: "native_web_line_by_line_gcode_execution_trace_comparison",
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};
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}
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function compareAxisValuesByLine(nativeEvidence, webEvidence) {
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const nativeValues = Array.isArray(nativeEvidence.axisValuesByLine)
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? nativeEvidence.axisValuesByLine
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: nativeEvidence.semanticExecutionPath?.axisValuesByLine || [];
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const webValues = Array.isArray(webEvidence.axisValuesByLine)
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? webEvidence.axisValuesByLine
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: webEvidence.semanticExecutionPath?.axisValuesByLine || [];
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const count = Math.min(nativeValues.length, webValues.length);
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const mismatches = [];
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let maxTcpErrorMm = 0;
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let maxJointError = 0;
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let maxToolAxisAngleDeg = 0;
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const thresholds = {
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maxTcpErrorMm: EXECUTION_TCP_MAX_ERROR_MM,
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maxJointError: EXECUTION_JOINT_MAX_ERROR,
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maxToolAxisAngleDeg: EXECUTION_TOOL_AXIS_MAX_ERROR_DEG,
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};
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for (let index = 0; index < count; index += 1) {
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const left = nativeValues[index];
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const right = webValues[index];
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const tcpError = vectorError(left?.tcp, right?.tcp, ["x", "y", "z"]);
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const jointError = vectorError(left?.joint, right?.joint, ["x", "y", "z", "b", "c"]);
|
|
const angleError = toolAxisAngleDeg(left?.toolAxis, right?.toolAxis);
|
|
const machineStateMatches = compareJsonStable(left?.machineState, right?.machineState);
|
|
maxTcpErrorMm = Math.max(maxTcpErrorMm, tcpError);
|
|
maxJointError = Math.max(maxJointError, jointError);
|
|
maxToolAxisAngleDeg = Math.max(maxToolAxisAngleDeg, angleError);
|
|
const identityMismatch = ["sourceFile", "line", "operation", "motionType", "activeKinematics", "segmentIndex"]
|
|
.some((key) => normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key]));
|
|
if (identityMismatch
|
|
|| tcpError > thresholds.maxTcpErrorMm
|
|
|| jointError > thresholds.maxJointError
|
|
|| angleError > thresholds.maxToolAxisAngleDeg
|
|
|| !machineStateMatches) {
|
|
mismatches.push({
|
|
index,
|
|
native: projectAxisValue(left),
|
|
web: projectAxisValue(right),
|
|
tcpError,
|
|
jointError,
|
|
toolAxisAngleDeg: angleError,
|
|
machineStateMatches,
|
|
});
|
|
}
|
|
}
|
|
if (nativeValues.length !== webValues.length) {
|
|
mismatches.push({
|
|
index: count,
|
|
nativeLineValueCount: nativeValues.length,
|
|
webLineValueCount: webValues.length,
|
|
});
|
|
}
|
|
return {
|
|
status: mismatches.length === 0 && nativeValues.length > 0 && webValues.length > 0 ? "pass" : "fail",
|
|
nativeLineValueCount: nativeValues.length,
|
|
webLineValueCount: webValues.length,
|
|
thresholds,
|
|
maxTcpErrorMm,
|
|
maxJointError,
|
|
maxToolAxisAngleDeg,
|
|
mismatchCount: mismatches.length,
|
|
mismatches,
|
|
semanticBoundary: "native_web_executed_line_axis_values_comparison",
|
|
};
|
|
}
|
|
|
|
function compareGcodeExecutionProcess(nativeEvidence, webEvidence) {
|
|
const nativeProcess = nativeEvidence.gcodeExecutionProcess || nativeEvidence.semanticExecutionPath?.gcodeExecutionProcess || null;
|
|
const webProcess = webEvidence.gcodeExecutionProcess || webEvidence.semanticExecutionPath?.gcodeExecutionProcess || null;
|
|
const nativeSteps = Array.isArray(nativeProcess?.executionSteps) ? nativeProcess.executionSteps : [];
|
|
const webSteps = Array.isArray(webProcess?.executionSteps) ? webProcess.executionSteps : [];
|
|
const nativeCoverage = Array.isArray(nativeProcess?.sourceLineCoverage) ? nativeProcess.sourceLineCoverage : [];
|
|
const webCoverage = Array.isArray(webProcess?.sourceLineCoverage) ? webProcess.sourceLineCoverage : [];
|
|
const mismatches = [];
|
|
|
|
if (nativeProcess?.status !== "ok" || webProcess?.status !== "ok") {
|
|
mismatches.push({
|
|
index: 0,
|
|
field: "status",
|
|
native: nativeProcess?.status ?? null,
|
|
web: webProcess?.status ?? null,
|
|
});
|
|
}
|
|
compareCoverage(nativeCoverage, webCoverage, mismatches);
|
|
|
|
const stepCount = Math.min(nativeSteps.length, webSteps.length);
|
|
for (let index = 0; index < stepCount; index += 1) {
|
|
const left = nativeSteps[index];
|
|
const right = webSteps[index];
|
|
const differences = [];
|
|
for (const key of ["stepIndex", "sourceFile", "line", "statement", "callDepth", "executed", "sourceLineKind"]) {
|
|
if (normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key])) {
|
|
differences.push({ key, native: left?.[key], web: right?.[key] });
|
|
}
|
|
}
|
|
for (const key of [
|
|
"operation",
|
|
"sourceLineKind",
|
|
"executed",
|
|
"activeKinematicsBefore",
|
|
"activeKinematicsAfter",
|
|
"traceExecutionIndex",
|
|
]) {
|
|
if (normalizeComparable(left?.result?.[key]) !== normalizeComparable(right?.result?.[key])) {
|
|
differences.push({ key: `result.${key}`, native: left?.result?.[key], web: right?.result?.[key] });
|
|
}
|
|
}
|
|
if (!compareJsonStable(left?.result?.machineStateAfter, right?.result?.machineStateAfter)) {
|
|
differences.push({
|
|
key: "result.machineStateAfter",
|
|
native: left?.result?.machineStateAfter,
|
|
web: right?.result?.machineStateAfter,
|
|
});
|
|
}
|
|
if (JSON.stringify(left?.result?.parametersChanged || {}) !== JSON.stringify(right?.result?.parametersChanged || {})) {
|
|
differences.push({
|
|
key: "result.parametersChanged",
|
|
native: left?.result?.parametersChanged,
|
|
web: right?.result?.parametersChanged,
|
|
});
|
|
}
|
|
const leftMotion = left?.result?.motion || null;
|
|
const rightMotion = right?.result?.motion || null;
|
|
if (Boolean(leftMotion) !== Boolean(rightMotion)) {
|
|
differences.push({ key: "result.motion", native: Boolean(leftMotion), web: Boolean(rightMotion) });
|
|
} else if (leftMotion && rightMotion) {
|
|
const tcpError = vectorError(leftMotion.endTcp, rightMotion.endTcp, ["x", "y", "z"]);
|
|
const jointError = vectorError(leftMotion.endJoint, rightMotion.endJoint, ["x", "y", "z", "b", "c"]);
|
|
const axisError = toolAxisAngleDeg(leftMotion.endToolAxis, rightMotion.endToolAxis);
|
|
if (tcpError > EXECUTION_TCP_MAX_ERROR_MM || jointError > EXECUTION_JOINT_MAX_ERROR || axisError > EXECUTION_TOOL_AXIS_MAX_ERROR_DEG) {
|
|
differences.push({
|
|
key: "result.motion.axisValues",
|
|
tcpError,
|
|
jointError,
|
|
toolAxisAngleDeg: axisError,
|
|
native: projectMotion(leftMotion),
|
|
web: projectMotion(rightMotion),
|
|
});
|
|
}
|
|
for (const key of ["segmentIndex", "motionType", "feed"]) {
|
|
if (normalizeComparable(leftMotion[key]) !== normalizeComparable(rightMotion[key])) {
|
|
differences.push({ key: `result.motion.${key}`, native: leftMotion[key], web: rightMotion[key] });
|
|
}
|
|
}
|
|
}
|
|
if (differences.length > 0) {
|
|
mismatches.push({
|
|
index,
|
|
native: projectGcodeStep(left),
|
|
web: projectGcodeStep(right),
|
|
differences,
|
|
});
|
|
}
|
|
}
|
|
if (nativeSteps.length !== webSteps.length) {
|
|
mismatches.push({
|
|
index: stepCount,
|
|
field: "executionSteps.length",
|
|
native: nativeSteps.length,
|
|
web: webSteps.length,
|
|
});
|
|
}
|
|
return {
|
|
status: mismatches.length === 0 && nativeSteps.length > 0 && webSteps.length > 0 ? "pass" : "fail",
|
|
nativeExecutionStepCount: nativeSteps.length,
|
|
webExecutionStepCount: webSteps.length,
|
|
nativeSourceLineCoverageCount: nativeCoverage.length,
|
|
webSourceLineCoverageCount: webCoverage.length,
|
|
nativeSummary: nativeProcess?.summary || null,
|
|
webSummary: webProcess?.summary || null,
|
|
mismatchCount: mismatches.length,
|
|
mismatches,
|
|
semanticBoundary: "native_web_complete_gcode_execution_process_json_comparison",
|
|
};
|
|
}
|
|
|
|
function compareCoverage(nativeCoverage, webCoverage, mismatches) {
|
|
const count = Math.min(nativeCoverage.length, webCoverage.length);
|
|
for (let index = 0; index < count; index += 1) {
|
|
const left = nativeCoverage[index];
|
|
const right = webCoverage[index];
|
|
const differences = [];
|
|
for (const key of ["sourceFile", "line", "statement", "sourceLineKind", "visitCount", "producedMotionCount"]) {
|
|
if (normalizeComparable(left?.[key]) !== normalizeComparable(right?.[key])) {
|
|
differences.push({ key: `coverage.${key}`, native: left?.[key], web: right?.[key] });
|
|
}
|
|
}
|
|
if (JSON.stringify(left?.operations || []) !== JSON.stringify(right?.operations || [])) {
|
|
differences.push({ key: "coverage.operations", native: left?.operations, web: right?.operations });
|
|
}
|
|
if (differences.length > 0) {
|
|
mismatches.push({
|
|
index,
|
|
field: "sourceLineCoverage",
|
|
native: left,
|
|
web: right,
|
|
differences,
|
|
});
|
|
}
|
|
}
|
|
if (nativeCoverage.length !== webCoverage.length) {
|
|
mismatches.push({
|
|
index: count,
|
|
field: "sourceLineCoverage.length",
|
|
native: nativeCoverage.length,
|
|
web: webCoverage.length,
|
|
});
|
|
}
|
|
}
|
|
|
|
function projectGcodeStep(step = {}) {
|
|
return {
|
|
stepIndex: step.stepIndex,
|
|
sourceFile: step.sourceFile,
|
|
line: step.line,
|
|
statement: step.statement,
|
|
callDepth: step.callDepth,
|
|
operation: step.result?.operation,
|
|
sourceLineKind: step.sourceLineKind,
|
|
activeKinematicsAfter: step.result?.activeKinematicsAfter,
|
|
traceExecutionIndex: step.result?.traceExecutionIndex,
|
|
motion: step.result?.motion ? projectMotion(step.result.motion) : null,
|
|
parametersChanged: step.result?.parametersChanged,
|
|
machineStateAfter: step.result?.machineStateAfter,
|
|
};
|
|
}
|
|
|
|
function projectMotion(motion = {}) {
|
|
return {
|
|
segmentIndex: motion.segmentIndex,
|
|
motionType: motion.motionType,
|
|
feed: motion.feed,
|
|
endJoint: motion.endJoint,
|
|
endTcp: motion.endTcp,
|
|
endToolAxis: motion.endToolAxis,
|
|
};
|
|
}
|
|
|
|
function projectTraceEntry(entry = {}) {
|
|
return {
|
|
sourceFile: entry.sourceFile,
|
|
line: entry.line,
|
|
operation: entry.operation,
|
|
motionType: entry.motionType,
|
|
activeKinematicsAfter: entry.activeKinematicsAfter,
|
|
producesMotion: entry.producesMotion,
|
|
segmentIndex: entry.segmentIndex,
|
|
};
|
|
}
|
|
|
|
function projectAxisValue(entry = {}) {
|
|
return {
|
|
sourceFile: entry.sourceFile,
|
|
line: entry.line,
|
|
operation: entry.operation,
|
|
motionType: entry.motionType,
|
|
activeKinematics: entry.activeKinematics,
|
|
segmentIndex: entry.segmentIndex,
|
|
joint: entry.joint,
|
|
tcp: entry.tcp,
|
|
toolAxis: entry.toolAxis,
|
|
machineState: entry.machineState,
|
|
};
|
|
}
|
|
|
|
function normalizeComparable(value) {
|
|
if (value === undefined || value === null) return null;
|
|
if (typeof value === "number") return Number.isFinite(value) ? Number(value.toFixed(12)) : null;
|
|
return value;
|
|
}
|
|
|
|
function pathStats(leftSamples, rightSamples) {
|
|
const count = Math.min(leftSamples.length, rightSamples.length);
|
|
const missingSamples = [];
|
|
let maxTcpErrorMm = 0;
|
|
let sumTcpErrorSquared = 0;
|
|
let maxJointError = 0;
|
|
let sumJointErrorSquared = 0;
|
|
let maxToolAxisAngleDeg = 0;
|
|
const machineStateMismatches = [];
|
|
for (let index = 0; index < count; index += 1) {
|
|
const left = leftSamples[index];
|
|
const right = rightSamples[index];
|
|
if (left.sampleIndex !== right.sampleIndex || left.timeMs !== right.timeMs) {
|
|
missingSamples.push({ index, leftSampleIndex: left.sampleIndex, rightSampleIndex: right.sampleIndex });
|
|
}
|
|
const tcpError = vectorError(left.tcp, right.tcp, ["x", "y", "z"]);
|
|
const jointError = vectorError(left.joint, right.joint, ["x", "y", "z", "b", "c"]);
|
|
const angleError = toolAxisAngleDeg(left.toolAxis, right.toolAxis);
|
|
maxTcpErrorMm = Math.max(maxTcpErrorMm, tcpError);
|
|
sumTcpErrorSquared += tcpError ** 2;
|
|
maxJointError = Math.max(maxJointError, jointError);
|
|
sumJointErrorSquared += jointError ** 2;
|
|
maxToolAxisAngleDeg = Math.max(maxToolAxisAngleDeg, angleError);
|
|
if (!compareJsonStable(left.machineState, right.machineState)) {
|
|
machineStateMismatches.push({
|
|
index,
|
|
native: left.machineState,
|
|
web: right.machineState,
|
|
});
|
|
}
|
|
}
|
|
return {
|
|
maxTcpErrorMm,
|
|
rmsTcpErrorMm: count > 0 ? Math.sqrt(sumTcpErrorSquared / count) : 0,
|
|
maxJointError,
|
|
rmsJointError: count > 0 ? Math.sqrt(sumJointErrorSquared / count) : 0,
|
|
maxToolAxisAngleDeg,
|
|
sampleCountDelta: Math.abs(leftSamples.length - rightSamples.length),
|
|
missingSamples,
|
|
machineStateMismatchCount: machineStateMismatches.length,
|
|
machineStateMismatches: machineStateMismatches.slice(0, 10),
|
|
};
|
|
}
|
|
|
|
function emptyStats(leftSamples, rightSamples) {
|
|
return {
|
|
maxTcpErrorMm: null,
|
|
rmsTcpErrorMm: null,
|
|
maxJointError: null,
|
|
rmsJointError: null,
|
|
maxToolAxisAngleDeg: null,
|
|
sampleCountDelta: Math.abs(leftSamples.length - rightSamples.length),
|
|
missingSamples: [],
|
|
machineStateMismatchCount: null,
|
|
machineStateMismatches: [],
|
|
};
|
|
}
|
|
|
|
function compareJsonStable(left, right) {
|
|
return JSON.stringify(normalizeForJsonCompare(left)) === JSON.stringify(normalizeForJsonCompare(right));
|
|
}
|
|
|
|
function normalizeForJsonCompare(value) {
|
|
if (value === undefined || value === null) return null;
|
|
if (typeof value === "number") return Number.isFinite(value) ? Number(value.toFixed(12)) : null;
|
|
if (Array.isArray(value)) return value.map((item) => normalizeForJsonCompare(item));
|
|
if (typeof value === "object") {
|
|
return Object.fromEntries(Object.keys(value).sort().map((key) => [key, normalizeForJsonCompare(value[key])]));
|
|
}
|
|
return value;
|
|
}
|
|
|
|
function vectorError(left = {}, right = {}, keys = []) {
|
|
return Math.sqrt(keys.reduce((sum, key) => (
|
|
sum + (numberOrZero(left[key]) - numberOrZero(right[key])) ** 2
|
|
), 0));
|
|
}
|
|
|
|
function toolAxisAngleDeg(left = {}, right = {}) {
|
|
const dot = numberOrZero(left.i) * numberOrZero(right.i)
|
|
+ numberOrZero(left.j) * numberOrZero(right.j)
|
|
+ numberOrZero(left.k) * numberOrZero(right.k);
|
|
const leftLen = vectorError(left, { i: 0, j: 0, k: 0 }, ["i", "j", "k"]);
|
|
const rightLen = vectorError(right, { i: 0, j: 0, k: 0 }, ["i", "j", "k"]);
|
|
if (leftLen <= 0 || rightLen <= 0) return 0;
|
|
const cosine = Math.max(-1, Math.min(1, dot / (leftLen * rightLen)));
|
|
return Math.acos(cosine) * 180 / Math.PI;
|
|
}
|
|
|
|
function numberOrZero(value) {
|
|
const number = Number(value);
|
|
return Number.isFinite(number) ? number : 0;
|
|
}
|