Implement AXIS parity UI and execution baseline

scripts/generate_authoritative_kinematics_s7_03.py

@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+"""Generate deterministic S7-03 authoritative linear Delta evidence."""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import subprocess
+from pathlib import Path
+from typing import Any
+
+
+CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1"
+RUNNER = ("node", "web/worker/test_authoritative_kinematics_s7_03.mjs")
+PAIRS = {"kinematics": (("build-native/sim_kinematics_test",), ("node", "build-wasm/sim_kinematics_wasm_test.js")), "kinematics_motion": (("build-native/sim_kinematics_motion_test",), ("node", "build-wasm/sim_kinematics_motion_wasm_test.js"))}
+INPUTS = (
+    "coverage/simulation-alignment-s7.report.json",
+    "coverage/delta-kinematics.report.json",
+    "coverage/kinematics-registry.report.json",
+    "coverage/source-g6164-s7-02.report.json",
+    "linuxcnc/configs/sim/axis/ldelta.ini",
+    "linuxcnc/src/emc/kinematics/lineardeltakins.c",
+    "wasm-core/src/sim_kinematics.c",
+    "web/worker/authoritative-runtime.mjs",
+    "web/worker/sim-session.mjs",
+    "web/worker/test_authoritative_kinematics_s7_03.mjs",
+)
+
+
+def canonical(value: Any) -> str: return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+def digest(value: bytes) -> str: return hashlib.sha256(value).hexdigest()
+
+
+def artifact(root: Path, path: str) -> dict[str, Any]:
+    value = root / path
+    return {"path": path, "status": "missing"} if not value.is_file() else {"path": path, "bytes": value.stat().st_size, "sha256": digest(value.read_bytes())}
+
+
+def run(root: Path, command: tuple[str, ...]) -> dict[str, Any]:
+    result = subprocess.run(command, cwd=root, stdout=subprocess.PIPE, stderr=subprocess.PIPE, check=False)
+    return {"command": list(command), "returncode": result.returncode, "status": "PASSED" if result.returncode == 0 else "FAILED", "stdout_sha256": digest(result.stdout), "stderr_sha256": digest(result.stderr), "stdout": result.stdout.decode("utf-8", errors="replace"), "stderr": result.stderr.decode("utf-8", errors="replace")}
+
+
+def parse(result: dict[str, Any]) -> dict[str, Any] | None:
+    for line in reversed(result["stdout"].splitlines()):
+        if line.lstrip().startswith("{"):
+            try: return json.loads(line)
+            except json.JSONDecodeError: pass
+    return None
+
+
+def no_output(result: dict[str, Any]) -> dict[str, Any]: return {key: value for key, value in result.items() if key not in {"stdout", "stderr"}}
+
+
+def generate(root: Path, output: Path, profile: dict[str, Any] | None = None) -> dict[str, Any]:
+    profile = profile or {}
+    runner = profile.get("runner", RUNNER)
+    supported_type = profile.get("supported_type", "lineardelta")
+    worker_result = run(root, runner); worker = parse(worker_result)
+    native_wasm = {}; pair_ok = True
+    for name, (native_command, wasm_command) in PAIRS.items():
+        native = run(root, native_command); wasm = run(root, wasm_command)
+        equal = native["returncode"] == 0 and wasm["returncode"] == 0 and native["stdout"] == wasm["stdout"]
+        pair_ok = pair_ok and equal
+        native_wasm[name] = {"native": no_output(native), "wasm": no_output(wasm), "golden_diff": {"status": "PASSED" if equal else "FAILED", "byte_identical": equal, "native_stdout_sha256": native["stdout_sha256"], "wasm_stdout_sha256": wasm["stdout_sha256"]}}
+    ctest = run(root, ("ctest", "--test-dir", "build-native", "-R", "^(sim_kinematics_test|sim_kinematics_motion_test)$", "--output-on-failure"))
+    worker_ok = worker_result["returncode"] == 0 and worker and worker.get("status") == "verified" and worker.get("supported", {}).get("type") == supported_type and worker.get("parity", {}).get("mode", {}).get("equal") and worker.get("parity", {}).get("recovery", {}).get("equal")
+    report: dict[str, Any] = {
+        "schema": "authoritative-kinematics-s7-03.v1",
+        "task_id": "S7-03",
+        "context_id": CONTEXT_ID,
+        "status": "verified" if worker_ok and pair_ok and ctest["returncode"] == 0 else "blocked",
+        "scope": {"selected_family": "parallel_linear_delta", "kinematics": "lineardelta", "source_module": "lineardeltakins", "pose": [0, 0, 64.636584194], "joint_count": 3, "geometry": {"radius": 130.25, "rod_length": 269, "tower_layout": "120-degree equilateral"}, "unsupported_error": "authoritative_kinematics_unsupported", "range_error": "authoritative_kinematics_range"},
+        "worker": {"execution": no_output(worker_result), "sample": worker},
+        "native_wasm": native_wasm,
+        "ctest": no_output(ctest),
+        "inputs": [artifact(root, path) for path in INPUTS],
+        "selection": {"basis": ["delta-kinematics report has real lineardelta configuration candidates and passed native/WASM samples", "lineardelta preserves the existing authoritative XYZ plus three-joint shape", "no ABI/protocol/schema expansion is required"], "not_promoted": ["TRT", "serial_robot", "rotary_delta", "Hexapod", "Pentapod", "switch", "user", "official_oracle"]},
+        "boundaries": ["official kinematics oracle remains SOURCE_BLOCKED", "no-solution mapping fails closed as authoritative_kinematics_range", "missing ldelta HAL resources remain configuration gaps", "TRT/robot/Hexapod/Pentapod/switch/user remain queued"],
+    }
+    report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest()
+    output.parent.mkdir(parents=True, exist_ok=True); output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8")
+    return report
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__); parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1]); parser.add_argument("--report", type=Path, default=Path("coverage/authoritative-kinematics-s7-03.report.json")); args = parser.parse_args(); root = args.repo_root.resolve(); output = args.report if args.report.is_absolute() else root / args.report; report = generate(root, output); print(f"authoritative_kinematics_s7_03={report['status']} family={report['scope']['selected_family']}"); return 0 if report["status"] == "verified" else 1
+
+
+if __name__ == "__main__": raise SystemExit(main())