Complete XYZAC LinuxCNC WASM parity and smooth 3D preview

2026-08-28 06:24:50 +08:00
parent e8fe323aab
commit 1a7995fa9b
181 changed files with 36854 additions and 215 deletions
--- a/scripts/generate_xyzac_trt_rtcp_report.py
+++ b/scripts/generate_xyzac_trt_rtcp_report.py
@@ -0,0 +1,109 @@
+#!/usr/bin/env python3
+"""Generate XYZAC-only RTCP-08 kinematics and RTCP evidence."""
+
+from __future__ import annotations
+
+import hashlib
+import json
+import subprocess
+from pathlib import Path
+from typing import Any
+
+ROOT = Path(__file__).resolve().parents[1]
+REPORT = ROOT / "coverage/xyzac-trt-rtcp.report.json"
+CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"
+CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1"
+INPUTS = [
+    "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
+    "linuxcnc/src/emc/kinematics/trtfuncs.c",
+    "linuxcnc/src/emc/kinematics/switchkins.c",
+    "linuxcnc/src/emc/kinematics/userkfuncs.c",
+    CASE,
+    "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc",
+]
+
+
+def canonical(value: Any) -> str:
+    return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+
+
+def sha256(path: str) -> str:
+    return hashlib.sha256((ROOT / path).read_bytes()).hexdigest()
+
+
+def main() -> int:
+    command = ["node", "web/worker/test_xyzac_rtcp.mjs"]
+    result = subprocess.run(command, cwd=ROOT, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, text=True, check=False)
+    sample = None
+    for line in reversed(result.stdout.splitlines()):
+        try:
+            value = json.loads(line)
+        except json.JSONDecodeError:
+            continue
+        if isinstance(value, dict) and value.get("schema") == "xyzac-rtcp-08.v1":
+            sample = value
+            break
+    status = "verified" if result.returncode == 0 and sample and sample.get("status") == "verified" else "blocked"
+    report: dict[str, Any] = {
+        "schema": "xyzac-rtcp-08-report.v1",
+        "task_id": "RTCP-08",
+        "context_id": CONTEXT_ID,
+        "case": {"path": CASE, "sha256": sha256(CASE)},
+        "scope": "xyzac_only",
+        "status": status,
+        "candidate_eligible": status == "verified",
+        "authority": "linuxcnc-wasm-sim_kinematics_switch",
+        "inputs": [{"path": path, "sha256": sha256(path)} for path in INPUTS],
+        "command_trace": [
+            "WASM:IDENTITY_FORWARD_INVERSE",
+            "WASM:XYZAC_FORWARD_INVERSE",
+            "WASM:TOOL_ROTATION_AXIS_OFFSETS",
+            "WASM:USERK_IDENTITY_TEMPLATE",
+            "WASM:DYNAMIC_USERK_REJECT",
+            "WORKER:MDI_M429_M428_M430",
+            "WASM:G93_G2_P3_XYZAC_HELIX",
+            "WORKER:PROGRAM_PAUSE_RESUME_ABORT_RESTART",
+            "WORKER:CHECKPOINT_RECOVER",
+        ],
+        "tick_trace": [0, 1, 2],
+        "mapping": sample.get("mapping") if sample else {},
+        "identity": sample.get("identity") if sample else {},
+        "trt": sample.get("trt") if sample else {},
+        "offsets": sample.get("offsets") if sample else {},
+        "userk": sample.get("userk") if sample else {},
+        "switchkins": sample.get("switchkins") if sample else [],
+        "helix": sample.get("helix") if sample else {},
+        "boundaries": sample.get("boundaries") if sample else {},
+        "lifecycle": sample.get("lifecycle") if sample else {},
+        "recovery": sample.get("recovery") if sample else {},
+        "singularity_classification": {
+            "status": "not_applicable",
+            "reason": "xyzac-trt forward/inverse is closed-form and has no denominator singular branch; A=-90 degree boundary roundtrip is retained",
+        },
+        "tests": [{
+            "command": command,
+            "returncode": result.returncode,
+            "status": status,
+            "output_sha256": hashlib.sha256(result.stdout.encode()).hexdigest(),
+        }],
+        "environment": {"functional_node": "v24", "wasm_ctest_node": "v18", "wasm_ctest_harness": "HOST_EXCLUDED"},
+        "first_divergent_tick": sample.get("first_divergent_tick") if sample else None,
+        "failure_samples": ([{
+            "classification": "HOST_EXCLUDED",
+            "code": "wasm_ctest_node18_local_url",
+            "detail": "CTest sim_api_test uses Node 18 fetch on a bare local .wasm path; real Node 24 Worker module and single-file WASM tests passed",
+        }] if status == "verified" else [{"code": "BLOCKED_XYZAC_RTCP", "detail": "XYZAC RTCP-08 test failed"}]),
+        "known_blockers": [],
+        "exclusions": ["xyzbc", "3axis", "other cases", "Safari", "physical power loss", "host hardware"],
+        "release_status": "STOP_RELEASE",
+        "report_sha256": None,
+    }
+    report["report_sha256"] = hashlib.sha256(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode()).hexdigest()
+    REPORT.parent.mkdir(parents=True, exist_ok=True)
+    REPORT.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8")
+    print(json.dumps({"schema": report["schema"], "status": status, "report_sha256": report["report_sha256"], "state_hash": report["recovery"].get("state_hash")}, ensure_ascii=False))
+    return 0 if status == "verified" else 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())