Implement WebAssembly runtime and kinematics coverage
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112
scripts/generate_delta_kinematics_report.py
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112
scripts/generate_delta_kinematics_report.py
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#!/usr/bin/env python3
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"""Generate deterministic native/WASM evidence for linear and rotary Delta."""
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from __future__ import annotations
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import argparse
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import hashlib
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import json
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import subprocess
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from pathlib import Path
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SOURCES = {
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"linear_common": "linuxcnc/src/emc/kinematics/lineardeltakins-common.h",
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"linear_c": "linuxcnc/src/emc/kinematics/lineardeltakins.c",
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"linear_cc": "linuxcnc/src/emc/kinematics/lineardeltakins.cc",
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"rotary_common": "linuxcnc/src/emc/kinematics/rotarydeltakins-common.h",
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"rotary_c": "linuxcnc/src/emc/kinematics/rotarydeltakins.c",
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"rotary_cc": "linuxcnc/src/emc/kinematics/rotarydeltakins.cc",
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"implementation": "wasm-core/src/sim_kinematics.c",
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"header": "wasm-core/include/sim_kinematics.h",
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"test": "wasm-core/tests/sim_kinematics_test.c",
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}
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CONFIGS = {
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"linear_axis": "linuxcnc/configs/sim/axis/ldelta.ini",
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"linear_demo": "linuxcnc/configs/sim/axis/ldelta_demo.ini",
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"linear_tklinuxcnc": "linuxcnc/configs/sim/tklinuxcnc/ldelta.ini",
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"rotary_axis": "linuxcnc/configs/sim/axis/rdelta.ini",
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}
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def sha256(path: Path) -> str:
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return hashlib.sha256(path.read_bytes()).hexdigest()
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def run_json(command: list[str], root: Path) -> dict[str, object]:
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completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True)
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if completed.returncode != 0:
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raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}")
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for line in reversed(completed.stdout.splitlines()):
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if line.lstrip().startswith("{"):
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return json.loads(line)
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raise RuntimeError(f"{command[0]} did not emit a JSON sample")
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def generate(root: Path, output: Path) -> dict[str, object]:
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root = root.resolve()
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native = run_json([str(root / "build-native/sim_kinematics_test")], root)
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wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root)
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native_delta = {key: native[key] for key in ("lineardelta", "rotarydelta", "delta_edges")}
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wasm_delta = {key: wasm[key] for key in ("lineardelta", "rotarydelta", "delta_edges")}
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native_text = json.dumps(native_delta, sort_keys=True, separators=(",", ":"))
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wasm_text = json.dumps(wasm_delta, sort_keys=True, separators=(",", ":"))
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source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in SOURCES.items()}
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config_records = {}
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missing_hal = []
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for name, path in CONFIGS.items():
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text = (root / path).read_text(encoding="utf-8")
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hal_refs = [line.split("=", 1)[1].strip() for line in text.splitlines() if line.strip().startswith("HALFILE") and "=" in line]
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missing = [str((Path(path).parent / ref).as_posix()) for ref in hal_refs if not (root / Path(path).parent / ref).is_file()]
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missing_hal.extend(missing)
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config_records[name] = {
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"path": path,
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"sha256": sha256(root / path),
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"kinematics": "rotarydeltakins" if "rdelta" in path else "lineardeltakins",
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"hal_files": hal_refs,
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"missing_hal_files": sorted(missing),
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}
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edges = native_delta["delta_edges"]
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report = {
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"schema": "delta-kinematics-report.v1",
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"status": "partial",
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"implementation_status": "verified",
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"source_records": source_records,
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"configuration_candidates": config_records,
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"configuration_candidate_count": len(config_records),
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"geometry": {
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"linear": {"radius": 130.25, "rod_length": 269.0, "units": "mm", "tower_layout": "120-degree equilateral"},
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"rotary": {"platform_radius": 10.0, "thigh_length": 10.0, "shin_length": 14.0, "foot_radius": 6.0, "joint_units": "degrees"},
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},
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"mapping": {"coordinates": "XYZ", "kinematics_joint_count": 3, "extra_joint_policy": "prefix only; extra joints rejected by count", "optional_axes": "A/B/C/U/V/W pass through"},
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"families": {
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"linear_delta": {"module": "lineardeltakins", "forward": "three carriage spheres -> quadratic platform root", "inverse": "three carriage heights from sphere intersections", "configuration_candidates": ["linear_axis", "linear_demo", "linear_tklinuxcnc"]},
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"rotary_delta": {"module": "rotarydeltakins", "forward": "three rotary knee constraints -> quadratic platform root", "inverse": "three rotated leg intersections", "configuration_candidates": ["rotary_axis"]},
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},
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"solver": {"forward": "analytic quadratic intersection", "inverse": "three independent leg intersections", "fixed_iteration_limit": 0, "convergence_tolerance": 0.0, "default_root": 0, "alternate_root_flag": "SIM_KIN_DELTA_ALTERNATE_ROOT bit 0"},
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"workspace_and_boundaries": {
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"linear": {"nominal": native_delta["lineardelta"]["pose"], "alternate_root_pose": edges["lineardelta"]["alternate_pose"], "no_solution_error": edges["lineardelta"]["no_solution"], "joint_limit_error": edges["lineardelta"]["limit_error"], "geometry_error": edges["lineardelta"]["geometry_error"], "root_branch": edges["lineardelta"]["branch"], "alternate_branch": edges["lineardelta"]["alternate_branch"], "iterations": edges["lineardelta"]["iterations"]},
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"rotary": {"nominal": native_delta["rotarydelta"]["pose"], "alternate_root_pose": edges["rotarydelta"]["alternate_pose"], "singular_error": edges["rotarydelta"]["singular"], "geometry_error": edges["rotarydelta"]["geometry_error"], "root_branch": edges["rotarydelta"]["branch"], "alternate_branch": edges["rotarydelta"]["alternate_branch"], "iterations": edges["rotarydelta"]["iterations"]},
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},
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"samples": {"native": native_delta, "wasm": wasm_delta, "byte_identical_json": native_text == wasm_text, "state_hash_identical": native_delta["lineardelta"]["state_hash"] == wasm_delta["lineardelta"]["state_hash"] and native_delta["rotarydelta"]["state_hash"] == wasm_delta["rotarydelta"]["state_hash"]},
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"native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"},
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"oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["linear nominal/root", "linear alternate root", "linear no-solution", "linear joint-limit", "rotary nominal/root", "rotary alternate root", "rotary z=0 singular"]},
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"resource_gaps": {"missing_hal_files": sorted(set(missing_hal)), "policy": "retained as missing inputs; no configuration smoke is promoted to numeric golden"},
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}
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report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).hexdigest()
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output.parent.mkdir(parents=True, exist_ok=True)
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output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8")
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return report
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def main() -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1])
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parser.add_argument("--output", type=Path, default=Path("coverage/delta-kinematics.report.json"))
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args = parser.parse_args()
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report = generate(args.repo_root, args.repo_root / args.output)
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print(f"delta_kinematics={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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