Implement WebAssembly runtime and kinematics coverage

2026-08-21 06:04:48 +08:00
parent 5dd614c335
commit 554b72dae8
112 changed files with 47148 additions and 807 deletions
--- a/scripts/generate_trt_report.py
+++ b/scripts/generate_trt_report.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+"""Generate deterministic evidence for xyzac/xyzbc TRT kinematics."""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import subprocess
+from pathlib import Path
+
+
+INPUTS = {
+    "xyzac_source": "linuxcnc/src/emc/kinematics/xyzac-trt-kins.c",
+    "xyzbc_source": "linuxcnc/src/emc/kinematics/xyzbc-trt-kins.c",
+    "trt_source": "linuxcnc/src/emc/kinematics/trtfuncs.c",
+    "xyzac_config": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini",
+    "xyzbc_config": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzbc-trt.ini",
+    "implementation": "wasm-core/src/sim_kinematics.c",
+    "test": "wasm-core/tests/sim_kinematics_test.c",
+}
+
+
+def sha256(path: Path) -> str:
+    return hashlib.sha256(path.read_bytes()).hexdigest()
+
+
+def run_sample(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.startswith("{"):
+            return json.loads(line)
+    raise RuntimeError(f"{command[0]} did not emit a TRT sample")
+
+
+def generate(root: Path, output: Path) -> dict[str, object]:
+    root = root.resolve()
+    native_all = run_sample([str(root / "build-native/sim_kinematics_test")], root)
+    wasm_all = run_sample(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root)
+    native = {name: native_all[name] for name in ("xyzac_trt", "xyzbc_trt")}
+    wasm = {name: wasm_all[name] for name in ("xyzac_trt", "xyzbc_trt")}
+    xyzac_text = (root / INPUTS["xyzac_config"]).read_text(encoding="utf-8")
+    xyzbc_text = (root / INPUTS["xyzbc_config"]).read_text(encoding="utf-8")
+    source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}
+    native_json = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+    wasm_json = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
+    report = {
+        "schema": "trt-kinematics-report.v1",
+        "status": "partial",
+        "implementation_status": "verified",
+        "source_records": source_records,
+        "configuration_candidates": {
+            "xyzac": {"path": INPUTS["xyzac_config"], "kinematics": "xyzac-trt-kins", "sparm": "identityfirst", "joints": 5, "scan": "xyzac-trt-kins sparm=identityfirst" in xyzac_text},
+            "xyzbc": {"path": INPUTS["xyzbc_config"], "kinematics": "xyzbc-trt-kins", "sparm": "identityfirst", "joints": 5, "scan": "xyzbc-trt-kins sparm=identityfirst" in xyzbc_text},
+        },
+        "rotation_chain": {
+            "xyzac": "C about Z then A about X with y/z/tool offsets",
+            "xyzbc": "C about Z then B about Y with x/z/tool offsets",
+            "direction": "LinuxCNC opposite conventional rotary directions retained",
+            "identityfirst": "switchkins type 0 identity, type 1 TRT, type 2 userk",
+        },
+        "offsets": {
+            "xyzac": {"x_rot_point": 20.0, "y_offset": 3.0, "tool_offset": 100.0},
+            "xyzbc": {"x_offset": 5.0, "z_offset": 2.0, "tool_offset": 50.0},
+        },
+        "samples": {"native": native, "wasm": wasm, "byte_identical_json": native_json == wasm_json},
+        "boundaries": {
+            "xyzac_round_trip": "verified",
+            "xyzbc_round_trip": "verified",
+            "xyzbc_b_90_singular": "SIM_KIN_ERR_SINGULAR verified",
+            "missing_required_axis": "SIM_KIN_ERR_CONFIGURATION verified by existing contract tests",
+            "state_hash": "native/WASM identical",
+        },
+        "oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"},
+        "native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"},
+    }
+    report["report_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).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/trt-kinematics.report.json"))
+    args = parser.parse_args()
+    report = generate(args.repo_root, args.repo_root / args.output)
+    print(f"trt={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())