Implement WebAssembly runtime and kinematics coverage

scripts/generate_tripod_kinematics_report.py

@@ -0,0 +1,94 @@
+#!/usr/bin/env python3
+"""Generate deterministic native/WASM evidence for tripod kinematics."""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import re
+import subprocess
+from pathlib import Path
+
+INPUTS = {
+    "source": "linuxcnc/src/emc/kinematics/tripodkins.c",
+    "config": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
+    "hal": "linuxcnc/lib/hallib/tripodsim.hal",
+    "implementation": "wasm-core/src/sim_kinematics.c",
+    "header": "wasm-core/include/sim_kinematics.h",
+    "test": "wasm-core/tests/sim_kinematics_test.c",
+}
+
+
+def sha256(path: Path) -> str:
+    return hashlib.sha256(path.read_bytes()).hexdigest()
+
+
+def run_json(command: list[str], root: Path) -> dict[str, object]:
+    completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True)
+    if completed.returncode != 0:
+        raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}")
+    for line in reversed(completed.stdout.splitlines()):
+        if line.lstrip().startswith("{"):
+            return json.loads(line)
+    raise RuntimeError(f"{command[0]} did not emit JSON")
+
+
+def hal_geometry(text: str) -> dict[str, float]:
+    values: dict[str, float] = {}
+    for name, value in re.findall(r"^setp\s+tripodkins\.(Bx|Cx|Cy)\s+([-+0-9.eE]+)\s*$", text, re.M):
+        values[name] = float(value)
+    return values
+
+
+def generate(root: Path, output: Path) -> dict[str, object]:
+    root = root.resolve()
+    native_all = run_json([str(root / "build-native/sim_kinematics_test")], root)
+    wasm_all = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root)
+    native = {"tripod": native_all["tripod"], "boundaries": native_all["delta_edges"]["tripod"]}
+    wasm = {"tripod": wasm_all["tripod"], "boundaries": wasm_all["delta_edges"]["tripod"]}
+    native_text = json.dumps(native, sort_keys=True, separators=(",", ":"))
+    wasm_text = json.dumps(wasm, sort_keys=True, separators=(",", ":"))
+    source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}
+    config_text = (root / INPUTS["config"]).read_text(encoding="utf-8")
+    hal_text = (root / INPUTS["hal"]).read_text(encoding="utf-8")
+    edges = native["boundaries"]
+    report = {
+        "schema": "tripod-kinematics-report.v1",
+        "status": "partial",
+        "implementation_status": "verified",
+        "source_records": source_records,
+        "configuration_candidate": {
+            "path": INPUTS["config"],
+            "kinematics": "tripodkins",
+            "joints": 3,
+            "coordinates": "XYZ",
+            "scan": "KINEMATICS = tripodkins" in config_text and "JOINTS = 3" in config_text,
+            "hal_library": INPUTS["hal"],
+        },
+        "geometry": {"base_A": [0.0, 0.0, 0.0], "base_B": [10.0, 0.0, 0.0], "base_C": [5.0, 7.071, 0.0], "hal_parameters": hal_geometry(hal_text), "joint_semantics": ["AD", "BD", "CD"]},
+        "mapping": {"coordinates": "XYZ", "kinematics_joint_count": 3, "axis_joint_mapping": {"X": 0, "Y": 1, "Z": 2}, "home_pose": [0.0, 0.0, 1.0]},
+        "solver": {"forward": "analytic trilateration", "inverse": "three Euclidean strut lengths", "default_branch": "Dz>0", "alternate_branch": "Dz<0 when SIM_KIN_TRIPOD_BELOW_ROOT is set", "iterations": 0, "convergence_tolerance": 0.0},
+        "workspace_and_boundaries": {"nominal": native["tripod"], "alternate_pose": edges["alternate_pose"], "root_branch": edges["branch"], "alternate_branch": edges["alternate_branch"], "no_solution_error": edges["no_solution"], "base_plane_singular_error": edges["singular"], "joint_limit_error": edges["limit_error"], "geometry_error": edges["geometry_error"], "iterations": edges["iterations"]},
+        "samples": {"native": native, "wasm": wasm, "byte_identical_json": native_text == wasm_text, "state_hash_identical": native["tripod"]["state_hash"] == wasm["tripod"]["state_hash"]},
+        "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"},
+        "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["nominal above-root", "alternate below-root", "triangle-inequality no-solution", "base-plane singular", "joint-limit", "degenerate base geometry"]},
+    }
+    report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).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/tripod-kinematics.report.json"))
+    args = parser.parse_args()
+    report = generate(args.repo_root, args.repo_root / args.output)
+    print(f"tripod_kinematics={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())