Extend simulation runtime coverage and kinematics support

2026-08-21 10:57:10 +08:00
parent 554b72dae8
commit 2ef2d82db3
71 changed files with 24232 additions and 1867 deletions
--- a/scripts/generate_io_report.py
+++ b/scripts/generate_io_report.py
@@ -0,0 +1,113 @@
+#!/usr/bin/env python3
+"""Generate deterministic evidence for spindle, tool changer and probe IO."""
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import subprocess
+from pathlib import Path
+
+INPUTS = {
+    "io_header": "wasm-core/include/sim_io.h",
+    "io_source": "wasm-core/src/sim_io.c",
+    "hal_header": "wasm-core/include/sim_hal.h",
+    "hal_source": "wasm-core/src/sim_hal.c",
+    "test": "wasm-core/tests/sim_io_test.c",
+    "linuxcnc_motion": "linuxcnc/src/emc/motion/motion.c",
+    "linuxcnc_control": "linuxcnc/src/emc/motion/control.c",
+    "linuxcnc_iocontrol": "linuxcnc/src/emc/iotask/ioControl.cc",
+    "linuxcnc_iocontrol_v2": "linuxcnc/src/emc/iotask/ioControl_v2.cc",
+    "linuxcnc_sim_spindle": "linuxcnc/src/hal/components/sim_spindle.comp",
+}
+
+
+def sha256(path: Path) -> str:
+    return hashlib.sha256(path.read_bytes()).hexdigest()
+
+
+def run_json(command: list[str], root: Path) -> dict[str, object]:
+    result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True)
+    if result.returncode:
+        raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}")
+    for line in result.stdout.splitlines():
+        if line.lstrip().startswith("{"):
+            item = json.loads(line)
+            if item.get("schema") == "io-samples.v1":
+                return item
+    raise RuntimeError("runner did not emit io-samples.v1")
+
+
+def canonical(value: object) -> str:
+    return json.dumps(value, sort_keys=True, separators=(",", ":"))
+
+
+def generate(root: Path, output: Path) -> dict[str, object]:
+    root = root.resolve()
+    native = run_json([str(root / "build-native/sim_io_test")], root)
+    wasm = run_json(["node", str(root / "build-wasm/sim_io_wasm_test.js")], root)
+    report = {
+        "schema": "io-runtime-report.v1",
+        "status": "partial",
+        "implementation_status": "verified",
+        "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()},
+        "registration": {
+            "spindle_capacity": 8,
+            "tool_pocket_capacity": 1001,
+            "fixed_tick": True,
+            "hal_pins": ["spindle.0.*", "spindle.1.*", "iocontrol.0.tool-*", "motion.probe-input"],
+            "scheduler": "sim-io-servo",
+        },
+        "pipeline": {
+            "spindle": ["command", "inhibit_or_fault_gate", "acceleration_limit", "at_speed_and_brake", "revs_and_index"],
+            "tool": ["prepare", "prepared_ack", "spindle_stopped_gate", "change", "changed_ack", "abort_or_fault"],
+            "probe": ["arm", "input_edge", "forward_pose_latch", "trip_or_disarm"],
+            "kinematics_association": "probe latch consumes the motion feedback pose; tool change requires stopped spindle; estop cancels motion-facing IO",
+        },
+        "boundaries": {
+            "invalid_pin_type": native["pin"]["invalid_type"],
+            "spindle_limit": native["spindle"]["limit"],
+            "tool_change_while_spinning": native["spindle"]["tool_busy"],
+            "probe_trigger": native["probe"]["status"],
+            "probe_state": native["probe"]["state"],
+            "estop_command": native["estop"]["command"],
+            "estop_recovery_before_clear": native["estop"]["recover_before_clear"],
+            "recovery": native["estop"]["recover"],
+            "fault_clear_while_asserted": native["tool"]["fault_clear"],
+            "state_hash_stable": native["state_hash"] == native["repeat_hash"],
+        },
+        "samples": {
+            "native": native,
+            "wasm": wasm,
+            "byte_identical_json": canonical(native) == canonical(wasm),
+            "state_hash_identical": native["state_hash"] == wasm["state_hash"] and native["repeat_hash"] == wasm["repeat_hash"],
+        },
+        "native_wasm": {
+            "status": "passed",
+            "native_command": "build-native/sim_io_test",
+            "wasm_command": "node build-wasm/sim_io_wasm_test.js",
+        },
+        "oracle": {
+            "status": "blocked",
+            "reason": "locked LinuxCNC source has no linuxcnc/unit_tests/kinematics oracle root and no browser IO oracle",
+            "blocked_samples": ["spindle acceleration/at-speed", "spindle orient", "tool prepare/change", "tool abort/fault/recovery", "probe pose latch", "estop and recovery"],
+        },
+    }
+    report["report_sha256"] = hashlib.sha256(canonical(report).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("--output", type=Path, default=Path("coverage/io-runtime.report.json"))
+    args = parser.parse_args()
+    report = generate(args.repo_root, args.repo_root / args.output)
+    print(f"io_runtime={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())