From 6015293ee9bfe05a4580742aa5757d9be528caa7 Mon Sep 17 00:00:00 2001 From: wangdequan Date: Mon, 31 Aug 2026 20:08:00 +0800 Subject: [PATCH] Unblock native XYZAC TP oracle --- .../task-packets/TP-PARITY-00.handoff.json | 30 +- coverage/task-packets/TP-PARITY-00.json | 18 +- coverage/tp-parity-release-state.report.json | 20 + coverage/xyzac-native-tick-trace.report.json | 29403 +++++++++++++++- .../xyzac-native-wasm-tick-parity.report.json | 39 + coverage/xyzac-wasm-tick-trace.report.json | 19424 ++++++++++ doc-rtcp/xyzac-trt-full-tp-parity-plan.md | 26 +- .../0001-export-native-task-heartbeat.patch | 26 + .../compare_xyzac_native_wasm_tick_trace.py | 95 + scripts/run_axis3_tutorial_native.py | 14 +- scripts/run_xyzac_native_tick_trace.py | 85 +- scripts/run_xyzac_wasm_tick_trace.mjs | 145 + wasm-core/include/sim_program.h | 9 + wasm-core/src/sim_interpreter.c | 8 +- wasm-core/src/sim_program.c | 48 +- web/worker/sim-session.mjs | 7 + web/worker/wasm-program-runtime.mjs | 3 +- 17 files changed, 49339 insertions(+), 61 deletions(-) create mode 100644 coverage/tp-parity-release-state.report.json create mode 100644 coverage/xyzac-native-wasm-tick-parity.report.json create mode 100644 coverage/xyzac-wasm-tick-trace.report.json create mode 100644 patches/linuxcnc/0001-export-native-task-heartbeat.patch create mode 100644 scripts/compare_xyzac_native_wasm_tick_trace.py create mode 100644 scripts/run_xyzac_wasm_tick_trace.mjs diff --git a/coverage/task-packets/TP-PARITY-00.handoff.json b/coverage/task-packets/TP-PARITY-00.handoff.json index 6b7a1ca..a948565 100644 --- a/coverage/task-packets/TP-PARITY-00.handoff.json +++ b/coverage/task-packets/TP-PARITY-00.handoff.json @@ -2,30 +2,34 @@ "schema": "task-handoff.v1", "task_id": "TP-PARITY-00", "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", - "status": "blocked", + "status": "verified", "scope": "xyzac_only", - "result": "run-5axis-rtcp.sh launches native LinuxCNC services and AXIS, but linuxcnc.stat cannot attach to the launcher status buffer on this host; no native per-tick oracle was generated", - "report": {"path": "coverage/xyzac-native-tick-trace.report.json", "status": "blocked", "sha256": "86d13e1a715c20b2a7bfc243301b46780a9f2942bd96d928c5ae24a53dbcca71"}, + "result": "run-5axis-rtcp.sh launches the source LinuxCNC XYZAC case and the source Python NML extension captures a strictly monotonic native task-heartbeat trace with pose, joints, queue, current-line and dynamics fields", + "report": {"path": "coverage/xyzac-native-tick-trace.report.json", "status": "verified", "sha256": "881571d0c75017a9610023a2d022d26606e653a0c62575563c0da7ada600e9a2"}, + "parity_report": {"path": "coverage/xyzac-native-wasm-tick-parity.report.json", "status": "diverged", "sha256": "3ce76d65aee5405c01efca36b859b63da476f5f4d3bc4666be93691458fb86b3"}, + "wasm_report": {"path": "coverage/xyzac-wasm-tick-trace.report.json", "status": "verified", "sha256": "21cbdaa8eaa1eda94ca107095ba7931cb5bd151c80e75c9b7dd9ec6149a71c73"}, "outputs": [ - {"path": "scripts/run_xyzac_native_tick_trace.py", "status": "created"}, - {"path": "doc-rtcp/xyzac-trt-full-tp-parity-plan.md", "status": "created"}, - {"path": "coverage/task-packets/TP-PARITY-00.json", "status": "created"} + {"path": "scripts/run_xyzac_native_tick_trace.py", "status": "verified"}, + {"path": "scripts/run_xyzac_wasm_tick_trace.mjs", "status": "verified"}, + {"path": "scripts/compare_xyzac_native_wasm_tick_trace.py", "status": "verified"}, + {"path": "doc-rtcp/xyzac-trt-full-tp-parity-plan.md", "status": "updated"}, + {"path": "coverage/task-packets/TP-PARITY-00.json", "status": "verified"} ], "checks": { "launcher": "run-5axis-rtcp.sh started native linuxcncsvr/io/halui/milltask/axis", "axis_window": "visible during manual probe", - "stat_attach": "blocked: emcStatusBuffer invalid err=3 / taskbeat invalid", - "python_module": "blocked: installed 2.10.0~pre1 extension differs from source 2.10.0~pre0 launcher", - "native_trace": "blocked", + "stat_attach": "verified: source extension attaches after AXIS/NML startup", + "python_module": "verified: source extension matches run-in-place launcher", + "native_trace": "verified: 201 native heartbeat rows", + "wasm_trace": "verified: same XYZAC source/config loaded through linuxcnc-wasm worker", + "native_wasm_compare": "diverged: first difference $.rows[1].exec_state; release remains STOP_RELEASE", "source_hashes": "recorded by collector", "full_parity_claim": "forbidden" }, "failure_samples": [ - {"code": "NATIVE_STAT_BUFFER_INVALID", "detail": "linuxcnc.stat().poll() returned emcStatusBuffer invalid err=3 or SystemError without exception while run-5axis-rtcp.sh services were alive"}, - {"code": "NATIVE_TASKBEAT_INVALID", "detail": "taskbeat remained 4294967296 and no valid native tick could be selected"}, - {"code": "NATIVE_PYTHON_MODULE_MISMATCH", "detail": "collector imported /usr/lib/python3/dist-packages/linuxcnc.cpython-312-x86_64-linux-gnu.so while run-5axis-rtcp.sh uses the source 2.10.0~pre0 launcher"} + {"code": "ACTIVE_SEGMENT_GEOMETRY_UNAVAILABLE", "detail": "public linuxcnc.stat exposes motion_id but not TP segment geometry; collector retains explicit null instead of fabricating geometry"} ], "next_task": "TP-PARITY-01", - "next_task_status": "blocked_by_TP-PARITY-00", + "next_task_status": "in_progress", "release_status": "STOP_RELEASE" } diff --git a/coverage/task-packets/TP-PARITY-00.json b/coverage/task-packets/TP-PARITY-00.json index be144c3..c355f99 100644 --- a/coverage/task-packets/TP-PARITY-00.json +++ b/coverage/task-packets/TP-PARITY-00.json @@ -1,7 +1,7 @@ { "schema": "task-packet.v1", "task_id": "TP-PARITY-00", - "status": "blocked", + "status": "verified", "title": "Native LinuxCNC XYZAC per-tick oracle", "milestone": "M7-TP-NUMERICAL-PARITY", "context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1", @@ -22,14 +22,21 @@ ], "required_outputs": [ "scripts/run_xyzac_native_tick_trace.py", + "scripts/run_xyzac_wasm_tick_trace.mjs", + "scripts/compare_xyzac_native_wasm_tick_trace.py", "coverage/xyzac-native-tick-trace.report.json", + "coverage/xyzac-wasm-tick-trace.report.json", + "coverage/xyzac-native-wasm-tick-parity.report.json", "coverage/task-packets/TP-PARITY-00.handoff.json" ], "observed": { "report": "coverage/xyzac-native-tick-trace.report.json", - "report_sha256": "86d13e1a715c20b2a7bfc243301b46780a9f2942bd96d928c5ae24a53dbcca71", - "row_count": 0, - "first_blocker": "NATIVE_STAT_BUFFER_INVALID" + "report_sha256": "881571d0c75017a9610023a2d022d26606e653a0c62575563c0da7ada600e9a2", + "row_count": 201, + "first_blocker": null, + "tick_source": "linuxcnc.stat.task_heartbeat", + "tick_integrity": "strictly_monotonic", + "wasm_comparator": {"status": "diverged", "first_divergent_tick": 1, "difference_path": "$.rows[1].exec_state", "report": "coverage/xyzac-native-wasm-tick-parity.report.json"} }, "acceptance": [ "run-5axis-rtcp.sh launches native LinuxCNC", @@ -53,7 +60,8 @@ "known_blockers": [ "native stat API may not expose TP segment geometry; map motion_id and retain explicit unavailable field", "native GUI process requires DISPLAY and cleanup", - "full LinuxCNC TP source integration may require ABI-compatible C port rather than simplified queue extension" + "full LinuxCNC TP source integration may require ABI-compatible C port rather than simplified queue extension", + "native/WASM comparator currently diverges at current-line scheduling before TP numeric parity can be promoted" ], "release_status": "STOP_RELEASE" } diff --git a/coverage/tp-parity-release-state.report.json b/coverage/tp-parity-release-state.report.json new file mode 100644 index 0000000..5232700 --- /dev/null +++ b/coverage/tp-parity-release-state.report.json @@ -0,0 +1,20 @@ +{ + "schema": "tp-parity-release-state.v1", + "scope": "xyzac_only", + "tasks": [ + {"task_id": "TP-PARITY-00", "status": "verified", "evidence": "coverage/xyzac-native-tick-trace.report.json"}, + {"task_id": "TP-PARITY-01", "status": "in_progress", "evidence": "coverage/xyzac-native-wasm-tick-parity.report.json"}, + {"task_id": "TP-PARITY-02", "status": "in_progress", "evidence": "wasm-core/src/sim_program.c"}, + {"task_id": "TP-PARITY-03", "status": "blocked_by_TP-PARITY-01", "evidence": null}, + {"task_id": "TP-PARITY-04", "status": "blocked_by_TP-PARITY-01", "evidence": null}, + {"task_id": "TP-PARITY-05", "status": "blocked_by_TP-PARITY-01", "evidence": null}, + {"task_id": "TP-PARITY-06", "status": "diverged", "evidence": "coverage/xyzac-native-wasm-tick-parity.report.json"}, + {"task_id": "TP-PARITY-07", "status": "blocked_by_TP-PARITY-06", "evidence": null}, + {"task_id": "TP-PARITY-08", "status": "blocked_by_TP-PARITY-06", "evidence": null} + ], + "first_blocker": null, + "first_divergent_tick": 1, + "difference_path": "$.rows[1].exec_state", + "release_status": "STOP_RELEASE", + "reason": "The native oracle is available, but the existing WASM planner diverges from source LinuxCNC before full TP field parity is established." +} diff --git a/coverage/xyzac-native-tick-trace.report.json b/coverage/xyzac-native-tick-trace.report.json index f5fea28..84737da 100644 --- a/coverage/xyzac-native-tick-trace.report.json +++ b/coverage/xyzac-native-tick-trace.report.json @@ -40,14 +40,30 @@ } ], "killed_pids": [], + "lock_backup": null, "lock_path": "/tmp/linuxcnc.lock", "lock_removed": false, "remaining_services": [] }, - "errors": [ - "RuntimeError:native_stat_transition_timeout", - "NATIVE_PYTHON_MODULE_MISMATCH" - ], + "errors": [], + "inputs": { + "case_ini": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "sha256": "f985970db293b70c055e4c41fc316d0c16037b5dc7ce07490e18f554e851f811" + }, + "launcher": { + "path": "run-5axis-rtcp.sh", + "sha256": "93ab385675d647d17a9131a0e8d536a702883b901a48d6bd21e71c35909a4c71" + }, + "program": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", + "sha256": "5afc03d5c1b692edd4154a6d37e5f94d74936a7bd5e82dc9c022f7bc21c7dc17" + }, + "source_python_module": { + "path": "/home/mes006/linuxcncWebWASM/linuxcnc/lib/python/linuxcnc.so", + "sha256": "9acef9033a4c216f3291cffb5265d61e3b2dd52d867eacd87be7f408fa1f2b15" + } + }, "known_boundaries": [ "native stat exposes motion_id but not full TP segment geometry; active_segment_geometry is explicit null", "taskbeat is the public native task-cycle counter; wall-clock is recorded only as diagnostic elapsed_ms", @@ -58,29 +74,29384 @@ "./run-5axis-rtcp.sh", "xyzac-trt.ini" ], - "launcher_output_sha256": "016a93120b82e66cf4161d61ef01fc751347479a7c709a1e12f8835001f8a86d", - "launcher_output_tail": "Starting 5-axis RTCP case: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini\nDemo program: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc\nRTCP subroutine: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc\nMachine configuration file is 'xyzac-trt.ini'\ncheck_config: Unchecked: [KINS]KINEMATICS={xyzac-trt-kins sparm=identityfirst}\nStarting LinuxCNC...\nlinuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod\nNote: Using POSIX non-realtime\nFound file(LIB): /home/mes006/linuxcncWebWASM/linuxcnc/lib/hallib/basic_sim.tcl\nsetup_kins: cmd=loadrt xyzac-trt-kins sparm=identityfirst\nnote: MAXV max: 1000.000 units/sec 60000.000 units/min\nnote: LJOG max: 1000.000 units/sec 60000.000 units/min\nnote: LJOG default: 20.000 units/sec 1200.000 units/min\nnote: AJOG max: 360.000 units/sec 21600.000 units/min\nnote: AJOG default: 360.000 units/sec 21600.000 units/min\nnote: jog_order='XYZC'\nnote: jog_invert=set()\ntask: main loop took 0.119082 seconds\ntask: 0 cycles, min=0.000003, max=0.119082, avg=-1.000000, 1 latency excursions (> 10x expected cycle time of 0.010000s)\nTraceback (most recent call last):\n File \"/home/mes006/linuxcncWebWASM/linuxcnc/bin/axis\", line 4249, in \n o.mainloop()\n File \"/usr/lib/python3.12/tkinter/__init__.py\", line 1504, in mainloop\n self.tk.mainloop(n)\n File \"/usr/lib/python3.12/tkinter/__init__.py\", line 1962, in __call__\n def __call__(self, *args):\n\nKeyboardInterrupt\nShutting down and cleaning up LinuxCNC...\n\n!!! switchkins-type 0 is IDENTITY\n\nidentityKinematicsSetup: coordinates:xyzac\n Joint 0 ==> Axis X\n Joint 1 ==> Axis Y\n Joint 2 ==> Axis Z\n Joint 3 ==> Axis A\n Joint 4 ==> Axis C\n\nxyzac-trt-kins coordinates=xyzac assigns:\n Joint 0 ==> Axis X\n Joint 1 ==> Axis Y\n Joint 2 ==> Axis Z\n Joint 3 ==> Axis A\n Joint 4 ==> Axis C\n\nuserkKinematicsSetup:\n emc/kinematics/userkfuncs.c max_joints=16 allow_duplicates=1\n\nNote: Using POSIX non-realtime", + "launcher_output_sha256": "d2b599b1914eedfd709f98d607bf7518cd6ff915954337aa3b406c882ee337a5", + "launcher_output_tail": "Starting 5-axis RTCP case: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini\nDemo program: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc\nRTCP subroutine: /home/mes006/linuxcncWebWASM/linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/remap_subs/helix_ac.ngc\nMachine configuration file is 'xyzac-trt.ini'\ncheck_config: Unchecked: [KINS]KINEMATICS={xyzac-trt-kins sparm=identityfirst}\nStarting LinuxCNC...\nlinuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod\nWaiting for component 'tpmod' to become ready......Waited 3 seconds for master. giving up.\nNote: Using POSIX non-realtime\n\nFound file(LIB): /home/mes006/linuxcncWebWASM/linuxcnc/lib/hallib/basic_sim.tcl\nsetup_kins: cmd=loadrt xyzac-trt-kins sparm=identityfirst\nnote: MAXV max: 1000.000 units/sec 60000.000 units/min\nnote: LJOG max: 1000.000 units/sec 60000.000 units/min\nnote: LJOG default: 20.000 units/sec 1200.000 units/min\nnote: AJOG max: 360.000 units/sec 21600.000 units/min\nnote: AJOG default: 360.000 units/sec 21600.000 units/min\nnote: jog_order='XYZC'\nnote: jog_invert=set()\ntask: 1958 cycles, min=0.000002, max=0.070934, avg=0.009827, 0 latency excursions (> 10x expected cycle time of 0.010000s)\nTraceback (most recent call last):\n File \"/home/mes006/linuxcncWebWASM/linuxcnc/bin/axis\", line 4249, in \n o.mainloop()\n File \"/usr/lib/python3.12/tkinter/__init__.py\", line 1504, in mainloop\n self.tk.mainloop(n)\n File \"/usr/lib/python3.12/tkinter/__init__.py\", line 1962, in __call__\n def __call__(self, *args):\n\nKeyboardInterrupt\nShutting down and cleaning up LinuxCNC...\n\n!!! switchkins-type 0 is IDENTITY\n\nidentityKinematicsSetup: coordinates:xyzac\n Joint 0 ==> Axis X\n Joint 1 ==> Axis Y\n Joint 2 ==> Axis Z\n Joint 3 ==> Axis A\n Joint 4 ==> Axis C\n\nxyzac-trt-kins coordinates=xyzac assigns:\n Joint 0 ==> Axis X\n Joint 1 ==> Axis Y\n Joint 2 ==> Axis Z\n Joint 3 ==> Axis A\n Joint 4 ==> Axis C\n\nuserkKinematicsSetup:\n emc/kinematics/userkfuncs.c max_joints=16 allow_duplicates=1\n\nNote: Using POSIX non-realtime", "native_axis_window": { - "height": 1377, - "raw": "0x4c0001f \"AXIS 2.10.0~pre0 on sim-xyzac-trt-kins (switchkins) (no file)\": (\"axis\" \"Axis\") 1552x1377+28+98 +280+286", - "title": "AXIS 2.10.0~pre0 on sim-xyzac-trt-kins (switchkins) (no file)", + "height": 1381, + "raw": "0x480001f \"xyzac_switchkins.ngc - AXIS 2.10.0~pre0 on sim-xyzac-trt-kins (switchkins)\": (\"axis\" \"Axis\") 1552x1381+28+98 +230+236", + "title": "xyzac_switchkins.ngc - AXIS 2.10.0~pre0 on sim-xyzac-trt-kins (switchkins)", "width": 1552 }, "native_linuxcnc": { "display": ":1", "expected_source_python_module": "/home/mes006/linuxcncWebWASM/linuxcnc/lib/python/linuxcnc.so", - "python_module": "/usr/lib/python3/dist-packages/linuxcnc.cpython-312-x86_64-linux-gnu.so" + "python_module": "/home/mes006/linuxcncWebWASM/linuxcnc/lib/python/linuxcnc.so", + "python_module_sha256": "9acef9033a4c216f3291cffb5265d61e3b2dd52d867eacd87be7f408fa1f2b15" }, "program": { "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc", "sha256": "5afc03d5c1b692edd4154a6d37e5f94d74936a7bd5e82dc9c022f7bc21c7dc17" }, "release_status": "STOP_RELEASE", - "report_sha256": "86d13e1a715c20b2a7bfc243301b46780a9f2942bd96d928c5ae24a53dbcca71", - "row_count": 0, - "rows": [], + "report_sha256": "881571d0c75017a9610023a2d022d26606e653a0c62575563c0da7ada600e9a2", + "row_count": 201, + "rows": [ + { + "acceleration": 300.0, + "active_queue": 0, + "active_segment_geometry": null, + "active_segment_geometry_status": "unavailable_linuxcnc_stat_api", + "active_segment_id": 0, + "actual_pose": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "commanded_pose": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "current_line": 0, + "distance_to_go": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "exec_state": 2, + "feed_hold_enabled": true, + "feed_override": 1.0, + "feed_override_enabled": true, + "homed": [ + 1, + 1, + 1, + 1, + 1, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "interp_state": 2, + "joint_actual": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "joint_commanded": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "kinematics_type": 4, + "limits": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "motion_id": 0, + "motion_line": 0, + "motion_type": 0, + "native_elapsed_ms": 0.077, + "paused": false, + "position": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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"xyzac-native-linuxcnc-tick-trace.v1", - "status": "blocked", - "tick_source": "linuxcnc.stat.taskbeat", - "trace_sha256": "4f53cda18c2baa0c0354bb5f9a3ecbe5ed12ab4d8e11ba873c2f11161202b945" + "status": "verified", + "tick_integrity": { + "first": 1733, + "last": 1958, + "row_count": 201, + "strictly_monotonic": true, + "unique_count": 201 + }, + "tick_source": "linuxcnc.stat.task_heartbeat", + "trace_sha256": "173b5a5644254adef9ca5fd3b4fb2919889cce938d3aae7079c5004a4bfb364f" } diff --git a/coverage/xyzac-native-wasm-tick-parity.report.json b/coverage/xyzac-native-wasm-tick-parity.report.json new file mode 100644 index 0000000..2f4e7ec --- /dev/null +++ b/coverage/xyzac-native-wasm-tick-parity.report.json @@ -0,0 +1,39 @@ +{ + "candidate_eligible": false, + "case": { + "path": "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini", + "scope": "xyzac_only" + }, + "comparison": { + "difference_path": "$.rows[1].exec_state", + "first_divergent_tick": 1, + "native": 3, + "status": "diverged", + "wasm": 2 + }, + "difference_path": "$.rows[1].exec_state", + "first_divergent_tick": 1, + "known_boundaries": [ + "native public stat does not expose TP segment geometry", + "WASM public snapshot does not expose acceleration/active blend geometry", + "verified oracle availability is not a full TP numerical parity claim" + ], + "native": { + "report": "coverage/xyzac-native-tick-trace.report.json", + "report_sha256": "881571d0c75017a9610023a2d022d26606e653a0c62575563c0da7ada600e9a2", + "row_count": 201, + "trace_sha256": "173b5a5644254adef9ca5fd3b4fb2919889cce938d3aae7079c5004a4bfb364f" + }, + "release_status": "STOP_RELEASE", + "report_sha256": "3ce76d65aee5405c01efca36b859b63da476f5f4d3bc4666be93691458fb86b3", + "schema": "xyzac-native-wasm-tick-parity.v1", + "status": "diverged", + "wasm": { + "report": "coverage/xyzac-wasm-tick-trace.report.json", + "report_sha256": "21cbdaa8eaa1eda94ca107095ba7931cb5bd151c80e75c9b7dd9ec6149a71c73", + "row_count": 202, + 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16.666666666666668, + "acceleration": null, + "feed_override": 1, + "rapid_override": 1, + "feed_override_enabled": true, + "queue_depth": 2, + "active_queue": null, + "queue_full": null, + "motion_id": 4, + "active_segment_id": 4, + "active_segment_geometry": null, + "active_segment_geometry_status": "unavailable_wasm_public_snapshot", + "distance_to_go": null, + "position": [ + 10, + 20, + 10, + 3.391256191546291, + 0, + 7.630326430979156, + 0, + 0, + 0 + ], + "homed": [ + 1, + 1, + 1, + 1, + 1 + ], + "limits": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "kinematics_type": 4, + "motion_type": 1, + "feed_hold_enabled": null, + "paused": false, + "wasm_tick": 201 + } + ], + "row_count": 202, + "trace_sha256": "4202692d7f92ad9d4bfacb0ec1bb88eaad9e5b308e3a016c670f8fc4a73a5612", + "errors": [], + "release_status": "STOP_RELEASE", + "report_sha256": "21cbdaa8eaa1eda94ca107095ba7931cb5bd151c80e75c9b7dd9ec6149a71c73" +} diff --git a/doc-rtcp/xyzac-trt-full-tp-parity-plan.md b/doc-rtcp/xyzac-trt-full-tp-parity-plan.md index acf3d77..83aa223 100644 --- a/doc-rtcp/xyzac-trt-full-tp-parity-plan.md +++ b/doc-rtcp/xyzac-trt-full-tp-parity-plan.md @@ -1,6 +1,13 @@ # XYZAC TRT 完整 TP/前瞻数值对标任务轨道 -状态：`TP-PARITY-00` 已建立，完整 LinuxCNC 数值对标尚未完成。 +状态：`TP-PARITY-00` 已 verified，完整 LinuxCNC 数值对标尚未完成。 + +当前 oracle 证据：`coverage/xyzac-native-tick-trace.report.json` 已由源 +`run-5axis-rtcp.sh` 产生连续 task-heartbeat tick；源 Python NML 扩展暴露 +`task_heartbeat`，并记录 XYZAC pose/joints、queue、current-line、速度和加速度。 +`scripts/compare_xyzac_native_wasm_tick_trace.py` 已接入同一 case 的 WASM trace， +当前首个差异保留为 `$.rows[1].exec_state`，因此不得把 TP-PARITY-01..08 写成 +数值 parity verified。 目标不是证明页面能绘制一条曲线，而是对同一 `xyzac-trt.ini`、同一 G-code、同一初始状态，比较 native LinuxCNC 与 WASM Worker 的每个运动 tick： @@ -44,6 +51,9 @@ Web 端只有在该链路和 native trace 逐字段一致后，才能声明 `PAR ### TP-PARITY-01：锁定 LinuxCNC TP 数据模型和 C ABI +状态：`in_progress`。native tick oracle 已可用；当前 comparator 显示现有 +WASM queue 与源 TP 的执行顺序/速度尚未一致。 + 来源：`linuxcnc/src/emc/tp/{tp.c,tp.h,tp_types.h,tc.c,tcq.c,tc_types.h,blendmath.c,blendmath.h,spherical_arc.c}`。 工作： @@ -56,6 +66,9 @@ Web 端只有在该链路和 native trace 逐字段一致后，才能声明 `PAR ### TP-PARITY-02：G64/G61/G61.1 完整路径控制 +状态：`in_progress`，WASM interpreter 侧已闭合指令模式和容差状态，numeric +blend 仍待 TP port 和 comparator 通过。 + 来源： - `linuxcnc/src/emc/rs274ngc/interp_convert.cc` 的 G64/G61 处理 @@ -68,6 +81,11 @@ Web 端只有在该链路和 native trace 逐字段一致后，才能声明 `PAR - 保存 modal 状态、每个 canonical motion 的 termination condition 和 tolerance。 - 增加直线-直线、直线-圆弧、圆弧-直线、圆弧-圆弧、急转角、短段、零容差和非法 P/Q 样本。 +当前 WASM C interpreter 已输出三种模式及 P/Q 容差到 `sim_program.v1`，Worker +在入队前应用对应 queue profile；LinuxCNC exact-path 与 exact-stop 的细微 +差别、P/Q 驱动的 corner blend 仍由 TP-PARITY-03/06 的 native tick comparator +验证，尚未标记完成。 + 退出条件：native/WASM 每条 TC 的 termination mode、tolerance、blend point、速度和完成 tick 一致。 ### TP-PARITY-03：Lookahead、corner blending、acceleration/jerk @@ -144,6 +162,12 @@ state_hash - 浮点使用固定绝对/相对容差，并记录原始值和差异值。 - 列表长度、字段缺失、状态顺序不允许静默忽略。 - 保存 `first_divergent_tick`、`difference_path`、native/WASM 两侧样本。 + +已提供可重复入口： + +- `scripts/run_xyzac_wasm_tick_trace.mjs` +- `scripts/compare_xyzac_native_wasm_tick_trace.py` +- `coverage/xyzac-native-wasm-tick-parity.report.json` - 最终坐标相同但中间 tick 不同必须判定为 `diverged`。 ### TP-PARITY-07：预览和实际执行一致性 diff --git a/patches/linuxcnc/0001-export-native-task-heartbeat.patch b/patches/linuxcnc/0001-export-native-task-heartbeat.patch new file mode 100644 index 0000000..15a0667 --- /dev/null +++ b/patches/linuxcnc/0001-export-native-task-heartbeat.patch @@ -0,0 +1,26 @@ +diff --git a/src/emc/task/emctaskmain.cc b/src/emc/task/emctaskmain.cc +--- a/src/emc/task/emctaskmain.cc ++++ b/src/emc/task/emctaskmain.cc +@@ -3490,4 +3490,9 @@ int main(int argc, char *argv[]) + // since emcStatus was passed to the WM init functions, it + // will be updated in the _update() functions above. There's + // no need to call the individual functions on all WM items. ++ // EMC_TASK_STAT_MSG::heartbeat is the native task-cycle oracle used by ++ // external clients. Keep it monotonic and publish it with this cycle's ++ // status image so a reader can identify every task tick without relying on ++ // wall-clock sampling. ++ emcStatus->task.heartbeat++; + emcStatusBuffer->write(emcStatus); + +diff --git a/src/emc/usr_intf/axis/extensions/emcmodule.cc b/src/emc/usr_intf/axis/extensions/emcmodule.cc +--- a/src/emc/usr_intf/axis/extensions/emcmodule.cc ++++ b/src/emc/usr_intf/axis/extensions/emcmodule.cc +@@ -409,4 +409,7 @@ static PyMemberDef Stat_members[] = { + {(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY}, + {(char*)"echo_serial_number", T_INT, O(echo_serial_number), READONLY}, + {(char*)"state", T_INT, O(status), READONLY}, ++ {(char*)"task_heartbeat", T_UINT, O(task.heartbeat), READONLY, ++ "Native EMC task-loop heartbeat. This counter is incremented by the " ++ "LinuxCNC task thread and is suitable for identifying native status ticks."}, + + // task diff --git a/scripts/compare_xyzac_native_wasm_tick_trace.py b/scripts/compare_xyzac_native_wasm_tick_trace.py new file mode 100644 index 0000000..34d0160 --- /dev/null +++ b/scripts/compare_xyzac_native_wasm_tick_trace.py @@ -0,0 +1,95 @@ +#!/usr/bin/env python3 +"""Compare the source LinuxCNC XYZAC oracle with the WASM worker trace.""" + +from __future__ import annotations + +import hashlib +import json +import subprocess +from pathlib import Path +from typing import Any + +ROOT = Path(__file__).resolve().parents[1] +NATIVE_REPORT = ROOT / "coverage/xyzac-native-tick-trace.report.json" +WASM_REPORT = ROOT / "coverage/xyzac-wasm-tick-trace.report.json" +REPORT = ROOT / "coverage/xyzac-native-wasm-tick-parity.report.json" + + +def canonical(value: Any) -> str: + return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + + +def digest(value: Any) -> str: + return hashlib.sha256((value if isinstance(value, bytes) else canonical(value).encode())).hexdigest() + + +def first_difference(left: Any, right: Any, path: str = "$") -> str | None: + if type(left) is not type(right): + return path + if isinstance(left, dict): + for key in sorted(set(left) | set(right)): + if key not in left or key not in right: + return f"{path}.{key}" + difference = first_difference(left[key], right[key], f"{path}.{key}") + if difference: + return difference + return None + if isinstance(left, list): + for index in range(max(len(left), len(right))): + if index >= len(left) or index >= len(right): + return f"{path}[{index}]" + difference = first_difference(left[index], right[index], f"{path}[{index}]") + if difference: + return difference + return None + return None if left == right else path + + +def canonical_row(row: dict[str, Any]) -> dict[str, Any]: + result = dict(row) + for key in ("joint_actual", "joint_commanded", "homed", "limits"): + if isinstance(result.get(key), list): + result[key] = result[key][:5] + return result + + +def compare_rows(native: list[dict[str, Any]], wasm: list[dict[str, Any]]) -> dict[str, Any]: + fields = ("task_state", "task_mode", "interp_state", "exec_state", "current_line", "motion_line", "actual_pose", "commanded_pose", "joint_actual", "joint_commanded", "velocity", "queue_depth", "motion_id", "active_segment_id", "position", "homed", "limits", "kinematics_type", "motion_type", "paused") + for index in range(max(len(native), len(wasm))): + if index >= len(native) or index >= len(wasm): + return {"status": "diverged", "first_divergent_tick": index, "difference_path": f"$.rows[{index}]", "native": native[index] if index < len(native) else None, "wasm": wasm[index] if index < len(wasm) else None} + native_row = canonical_row(native[index]) + wasm_row = canonical_row(wasm[index]) + for field in fields: + if native_row.get(field) != wasm_row.get(field): + return {"status": "diverged", "first_divergent_tick": index, "difference_path": f"$.rows[{index}].{field}", "native": native_row.get(field), "wasm": wasm_row.get(field)} + return {"status": "verified", "first_divergent_tick": None, "difference_path": None} + + +def main() -> int: + native = json.loads(NATIVE_REPORT.read_text(encoding="utf-8")) + wasm_ticks = max(1, min(1000, int(native.get("row_count") or 1))) + build = subprocess.run(["node", "scripts/run_xyzac_wasm_tick_trace.mjs", "--ticks", str(wasm_ticks), "--output", str(WASM_REPORT)], cwd=ROOT, text=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=False, timeout=120) + wasm = json.loads(WASM_REPORT.read_text(encoding="utf-8")) if WASM_REPORT.is_file() else {"status": "blocked", "rows": []} + comparison = compare_rows(native.get("rows", []), wasm.get("rows", [])) if native.get("status") == "verified" and wasm.get("status") == "verified" else {"status": "blocked", "first_divergent_tick": None, "difference_path": None} + report = { + "schema": "xyzac-native-wasm-tick-parity.v1", + "status": comparison["status"], + "candidate_eligible": comparison["status"] == "verified", + "case": native.get("case"), + "native": {"report": str(NATIVE_REPORT.relative_to(ROOT)), "report_sha256": native.get("report_sha256"), "trace_sha256": native.get("trace_sha256"), "row_count": native.get("row_count")}, + "wasm": {"report": str(WASM_REPORT.relative_to(ROOT)), "report_sha256": wasm.get("report_sha256"), "trace_sha256": wasm.get("trace_sha256"), "row_count": wasm.get("row_count"), "runner_returncode": build.returncode, "runner_output_sha256": digest(build.stdout)}, + "comparison": comparison, + "first_divergent_tick": comparison.get("first_divergent_tick"), + "difference_path": comparison.get("difference_path"), + "known_boundaries": ["native public stat does not expose TP segment geometry", "WASM public snapshot does not expose acceleration/active blend geometry", "verified oracle availability is not a full TP numerical parity claim"], + "release_status": "STOP_RELEASE", + } + report["report_sha256"] = digest({key: value for key, value in report.items() if key != "report_sha256"}) + 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": report["status"], "first_divergent_tick": report["first_divergent_tick"], "difference_path": report["difference_path"], "report_sha256": report["report_sha256"]}, ensure_ascii=False)) + return 0 if report["status"] == "verified" else 1 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/scripts/run_axis3_tutorial_native.py b/scripts/run_axis3_tutorial_native.py index bf0ac1a..0b07506 100644 --- a/scripts/run_axis3_tutorial_native.py +++ b/scripts/run_axis3_tutorial_native.py @@ -100,10 +100,20 @@ def cleanup_linuxcnc_services() -> dict[str, object]: pass lock = Path("/tmp/linuxcnc.lock") lock_removed = False + lock_backup = None if lock.exists() and not any(service_pattern.search(command) for _, command in process_rows()): - lock.unlink() + # Preserve stale lock evidence for post-mortem inspection. A lock is + # runtime state, not a repository artifact, so moving it is sufficient + # and recoverable while allowing the next source launcher to start. + lock_backup_path = Path(f"/tmp/linuxcnc.lock.stale-{time.strftime('%Y%m%d-%H%M%S')}") + suffix = 1 + while lock_backup_path.exists(): + lock_backup_path = Path(f"/tmp/linuxcnc.lock.stale-{time.strftime('%Y%m%d-%H%M%S')}-{suffix}") + suffix += 1 + lock.rename(lock_backup_path) lock_removed = True - return {"commands": commands, "killed_pids": killed, "lock_path": lock.as_posix(), "lock_removed": lock_removed, "remaining_services": [command for _, command in process_rows() if service_pattern.search(command)]} + lock_backup = lock_backup_path.as_posix() + return {"commands": commands, "killed_pids": killed, "lock_path": lock.as_posix(), "lock_removed": lock_removed, "lock_backup": lock_backup, "remaining_services": [command for _, command in process_rows() if service_pattern.search(command)]} def run(screenshot_path: Path | None = None) -> dict[str, object]: diff --git a/scripts/run_xyzac_native_tick_trace.py b/scripts/run_xyzac_native_tick_trace.py index 1e79bcf..e55e637 100644 --- a/scripts/run_xyzac_native_tick_trace.py +++ b/scripts/run_xyzac_native_tick_trace.py @@ -16,16 +16,22 @@ import os import re import signal import subprocess +import sys import time from pathlib import Path from typing import Any +# The oracle must bind to the same source build that run-5axis-rtcp.sh starts. +# In particular, importing the distro linuxcnc extension would silently bind to +# a different NML ABI/version and produce plausible but unusable status values. +ROOT = Path(__file__).resolve().parents[1] +SOURCE_PYTHON_DIR = ROOT / "linuxcnc/lib/python" +sys.path.insert(0, str(SOURCE_PYTHON_DIR)) import linuxcnc from run_axis3_tutorial_native import cleanup_linuxcnc_services -ROOT = Path(__file__).resolve().parents[1] CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini" PROGRAM = ROOT / "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc" SCHEMA = "xyzac-native-linuxcnc-tick-trace.v1" @@ -58,10 +64,13 @@ def scalar(value: Any) -> float | int | bool | str | None: def stat_row(stat: Any, sample_index: int, previous_taskbeat: int | None) -> dict[str, Any]: stat.poll() - taskbeat = scalar(getattr(stat, "taskbeat", None)) + taskbeat = scalar(getattr(stat, "task_heartbeat", None)) + commanded_pose = finite_list(getattr(stat, "position", None)) + distance_to_go = finite_list(getattr(stat, "dtg", None)) return { "sample_index": sample_index, "taskbeat": taskbeat, + "task_heartbeat": taskbeat, "taskbeat_changed": previous_taskbeat is None or taskbeat != previous_taskbeat, "task_state": scalar(getattr(stat, "task_state", None)), "task_mode": scalar(getattr(stat, "task_mode", None)), @@ -71,7 +80,7 @@ def stat_row(stat: Any, sample_index: int, previous_taskbeat: int | None) -> dic "motion_line": scalar(getattr(stat, "motion_line", None)), "read_line": scalar(getattr(stat, "read_line", None)), "actual_pose": finite_list(getattr(stat, "actual_position", None)), - "commanded_pose": finite_list(getattr(stat, "command_position", None)), + "commanded_pose": commanded_pose, "joint_actual": finite_list(getattr(stat, "joint_actual_position", None)), "joint_commanded": finite_list(getattr(stat, "joint_position", None)), "velocity": scalar(getattr(stat, "current_vel", None)), @@ -86,7 +95,7 @@ def stat_row(stat: Any, sample_index: int, previous_taskbeat: int | None) -> dic "active_segment_id": scalar(getattr(stat, "motion_id", None)), "active_segment_geometry": None, "active_segment_geometry_status": "unavailable_linuxcnc_stat_api", - "distance_to_go": finite_list(getattr(stat, "distance_to_go", None)), + "distance_to_go": distance_to_go, "position": finite_list(getattr(stat, "position", None)), "homed": list(getattr(stat, "homed", [])) if getattr(stat, "homed", None) is not None else None, "limits": list(getattr(stat, "limit", [])) if getattr(stat, "limit", None) is not None else None, @@ -150,6 +159,7 @@ def run(duration: float) -> dict[str, Any]: output_lines: list[str] = [] rows: list[dict[str, Any]] = [] errors: list[str] = [] + stage = "launch" stat: Any = None control: Any = None connected = False @@ -161,34 +171,56 @@ def run(duration: float) -> dict[str, Any]: if not window: time.sleep(0.1) continue - try: - stat = linuxcnc.stat() - control = linuxcnc.command() - stat.poll() - if getattr(stat, "task_state", None) in (linuxcnc.STATE_ESTOP, linuxcnc.STATE_ESTOP_RESET, linuxcnc.STATE_OFF, linuxcnc.STATE_ON): + # The AXIS toplevel is created only after linuxcncsvr/milltask have + # opened the NML buffers. Creating linuxcnc.stat before that point + # permanently binds an invalid channel, so wait for the real + # window first and create fresh channels afterwards. + time.sleep(0.1) + if stat is None or control is None or not connected: + if not window: + raise RuntimeError("native_linuxcnc_window_unavailable") + stat = None + control = None + attach_deadline = time.monotonic() + 10 + while time.monotonic() < attach_deadline and process.poll() is None: + try: + candidate_stat = linuxcnc.stat() + candidate_stat.poll() + stat = candidate_stat + control = linuxcnc.command() connected = True break - except Exception: - time.sleep(0.1) - if stat is None or control is None or not connected: - raise RuntimeError("native_linuxcnc_stat_unavailable") + except BaseException: + stat = None + control = None + time.sleep(0.1) + if stat is None or control is None or not connected: + raise RuntimeError("native_linuxcnc_stat_unavailable") + stage = "state_estop_reset" control.state(linuxcnc.STATE_ESTOP_RESET) control.wait_complete(5) wait_stat(stat, lambda item: item.task_state != linuxcnc.STATE_ESTOP, 5) + stage = "state_on" control.state(linuxcnc.STATE_ON) control.wait_complete(5) wait_stat(stat, lambda item: item.task_state == linuxcnc.STATE_ON, 5) + stage = "mode_manual" control.mode(linuxcnc.MODE_MANUAL) control.wait_complete(5) for joint in range(5): + stage = f"home_joint_{joint}" control.home(joint) control.wait_complete(5) + stage = "wait_home_all" wait_stat(stat, lambda item: all(bool(value) for value in list(getattr(item, "homed", []))[:5]), 10) + stage = "program_open" control.program_open(str(PROGRAM)) control.wait_complete(5) + stage = "mode_auto" control.mode(linuxcnc.MODE_AUTO) control.wait_complete(5) + stage = "program_run" control.auto(linuxcnc.AUTO_RUN, 0) start = time.monotonic() @@ -208,10 +240,11 @@ def run(duration: float) -> dict[str, Any]: sample_index += 1 time.sleep(0.005) final = stat_row(stat, sample_index + 1, previous_taskbeat) - final["native_elapsed_ms"] = round((time.monotonic() - start) * 1000.0, 3) - rows.append(final) + if final["taskbeat_changed"]: + final["native_elapsed_ms"] = round((time.monotonic() - start) * 1000.0, 3) + rows.append(final) except Exception as error: - errors.append(f"{type(error).__name__}:{error}") + errors.append(f"{stage}:{type(error).__name__}:{error}") finally: terminate_process(process) try: @@ -222,12 +255,19 @@ def run(duration: float) -> dict[str, Any]: cleanup_linuxcnc_services() source_bytes = PROGRAM.read_bytes() + ini_path = ROOT / CASE + launcher_path = ROOT / "run-5axis-rtcp.sh" + heartbeat_values = [row.get("task_heartbeat") for row in rows] + valid_heartbeats = [value for value in heartbeat_values if isinstance(value, int)] + heartbeat_monotonic = all(left < right for left, right in zip(valid_heartbeats, valid_heartbeats[1:])) trace_hash = sha256_bytes(canonical(rows).encode()) python_module = getattr(linuxcnc, "__file__", None) source_python_module = str(ROOT / "linuxcnc/lib/python/linuxcnc.so") if python_module != source_python_module: errors.append("NATIVE_PYTHON_MODULE_MISMATCH") - status = "verified" if rows and not errors else "blocked" + status = "verified" if rows and not errors and heartbeat_monotonic and len(valid_heartbeats) == len(set(valid_heartbeats)) else "blocked" + if rows and not heartbeat_monotonic: + errors.append("NATIVE_TASK_HEARTBEAT_NON_MONOTONIC") return { "schema": SCHEMA, "status": status, @@ -235,8 +275,15 @@ def run(duration: float) -> dict[str, Any]: "launcher": command, "native_axis_window": window, "program": {"path": PROGRAM.relative_to(ROOT).as_posix(), "sha256": sha256_bytes(source_bytes)}, - "native_linuxcnc": {"python_module": python_module, "expected_source_python_module": source_python_module, "display": environment["DISPLAY"]}, - "tick_source": "linuxcnc.stat.taskbeat", + "native_linuxcnc": {"python_module": python_module, "expected_source_python_module": source_python_module, "display": environment["DISPLAY"], "python_module_sha256": sha256_bytes(Path(python_module).read_bytes()) if python_module and Path(python_module).is_file() else None}, + "inputs": { + "case_ini": {"path": CASE, "sha256": sha256_bytes(ini_path.read_bytes())}, + "launcher": {"path": "run-5axis-rtcp.sh", "sha256": sha256_bytes(launcher_path.read_bytes())}, + "program": {"path": PROGRAM.relative_to(ROOT).as_posix(), "sha256": sha256_bytes(source_bytes)}, + "source_python_module": {"path": source_python_module, "sha256": sha256_bytes(Path(source_python_module).read_bytes()) if Path(source_python_module).is_file() else None}, + }, + "tick_source": "linuxcnc.stat.task_heartbeat", + "tick_integrity": {"first": valid_heartbeats[0] if valid_heartbeats else None, "last": valid_heartbeats[-1] if valid_heartbeats else None, "row_count": len(valid_heartbeats), "unique_count": len(set(valid_heartbeats)), "strictly_monotonic": heartbeat_monotonic}, "rows": rows, "row_count": len(rows), "trace_sha256": trace_hash, diff --git a/scripts/run_xyzac_wasm_tick_trace.mjs b/scripts/run_xyzac_wasm_tick_trace.mjs new file mode 100644 index 0000000..bd316d4 --- /dev/null +++ b/scripts/run_xyzac_wasm_tick_trace.mjs @@ -0,0 +1,145 @@ +#!/usr/bin/env node + +import { readFile, writeFile } from "node:fs/promises"; +import { createHash } from "node:crypto"; +import { join, resolve } from "node:path"; +import createModule from "../build-wasm/linuxcnc-sim-core.js"; +import { loadSimulationCase, toWorkerConfiguration } from "../web/workspace/sim-case-loader.mjs"; +import { XyzacSession, CONTEXT_ID } from "../web/worker/xyzac-session.mjs"; + +const ROOT = resolve(process.cwd()); +const CASE = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/xyzac-trt.ini"; +const PROGRAM = "linuxcnc/configs/sim/axis/vismach/5axis/table-rotary-tilting/demos/xyzac_switchkins.ngc"; +const SCHEMA = "xyzac-wasm-linuxcnc-tick-trace.v1"; +const AXES = ["x", "y", "z", "a", "b", "c", "u", "v", "w"]; + +const sha256 = (value) => createHash("sha256").update(value).digest("hex"); +const canonical = (value) => JSON.stringify(value, Object.keys(value).sort()); +const poseArray = (pose) => AXES.map((axis) => Number(pose?.[axis] ?? 0)); +const modeCode = (mode) => ({ MANUAL: 1, AUTO: 2, MDI: 3 }[mode] ?? null); +const taskStateCode = (state) => ({ ESTOP: 1, ESTOP_RESET: 2, OFF: 3, READY: 4, RUNNING: 4, PAUSED: 4, STOPPED: 4 }[state] ?? null); +const interpCode = (status) => ({ idle: 1, loaded: 1, running: 2, paused: 3, completed: 1, aborted: 1, fault: 1 }[status] ?? null); +const execCode = (status, queueDepth) => (Number(queueDepth) > 0 ? 3 : ({ running: 2, paused: 2, loaded: 2, completed: 2, aborted: 2, idle: 2, fault: 4 }[status] ?? null)); + +function rowFrom(state, task, program, tick) { + const position = state?.position ?? {}; + const motion = task?.motion ?? {}; + const visual = task?.visual ?? {}; + const limits = motion.limits ?? {}; + const joints = Array.isArray(visual.joints) ? visual.joints : Array.isArray(motion.joints) ? motion.joints : []; + const homedAxes = Array.isArray(motion.homed_axes) ? motion.homed_axes : []; + return { + sample_index: tick, + taskbeat: tick, + task_heartbeat: tick, + taskbeat_changed: true, + task_state: taskStateCode(task?.state), + task_mode: modeCode(task?.mode), + interp_state: interpCode(program?.program_status), + exec_state: execCode(program?.program_status, state?.queue_depth), + current_line: Number(program?.current_line ?? 0), + motion_line: Number(program?.current_line ?? 0), + read_line: Number(program?.current_line ?? 0), + actual_pose: poseArray(position), + commanded_pose: poseArray(position), + joint_actual: joints, + joint_commanded: joints, + velocity: Number(state?.velocity ?? 0), + acceleration: null, + feed_override: Number(motion.feed_override ?? 1), + rapid_override: 1, + feed_override_enabled: true, + queue_depth: Number(state?.queue_depth ?? 0), + active_queue: null, + queue_full: null, + motion_id: Number(state?.active_id ?? 0), + active_segment_id: Number(state?.active_id ?? 0), + active_segment_geometry: null, + active_segment_geometry_status: "unavailable_wasm_public_snapshot", + distance_to_go: null, + position: poseArray(position), + homed: homedAxes.map((value) => (value ? 1 : 0)), + limits: ["x", "y", "z", "a", "b", "c", "u", "v", "w"].map((axis) => limits[axis] ? 1 : 0), + kinematics_type: 4, + motion_type: Number(state?.motion_type ?? 0), + feed_hold_enabled: null, + paused: program?.program_status === "paused", + wasm_tick: tick, + }; +} + +const fetchImpl = async (url) => { + try { + const body = await readFile(join(ROOT, String(url).replace(/^\//, ""))); + return { ok: true, text: async () => body.toString("utf8") }; + } catch { + return { ok: false, text: async () => "" }; + } +}; + +async function run(maxTicks) { + const bundle = await loadSimulationCase({ path: CASE, fetchImpl }); + if (bundle.status !== "ready") throw new Error(`case_load_${bundle.code ?? bundle.status}`); + const source = bundle.files?.[PROGRAM]; + if (typeof source !== "string") throw new Error("program_source_missing"); + const wasmBinary = await readFile(join(ROOT, "build-wasm/linuxcnc-sim-core.wasm")); + const core = await createModule({ wasmBinary }); + const session = new XyzacSession(core, { sessionId: "xyzac-native-wasm-oracle" }); + let seq = 0; + const send = (kind, payload = {}) => session.accept({ schema_version: 1, context_id: CONTEXT_ID, session_id: session.sessionId, kind, seq: ++seq, operation_id: `oracle-${seq}`, payload }); + send("HELLO"); + send("SESSION_ATTACH"); + const loadedWorkspace = send("LOAD_WORKSPACE", { root_path: "/workspace", configuration: toWorkerConfiguration(bundle) }); + if (loadedWorkspace.payload?.status !== "verified") throw new Error("workspace_load_failed"); + for (const [kind, payload] of [["POWER", { active: true }], ["HOME", { all: true }], ["PROGRAM_LOAD", { source, path: PROGRAM }], ["PROGRAM_RUN"]]) { + const result = send(kind, payload); + if (result.payload?.status !== "verified") throw new Error(`${kind.toLowerCase()}_${result.payload?.code ?? "failed"}`); + } + const rows = []; + let state = session.wasmMotion.read().state; + let task = { ...session.task.export(), motion: session.motionProjection(), visual: { joints: state.joints } }; + let program = session.xyzacProgram.snapshot(); + rows.push(rowFrom(state, task, program, 0)); + for (let tick = 1; tick <= maxTicks; tick += 1) { + const response = send("SIM_STEP", { cycles: 1 }); + if (response.payload?.status !== "verified") throw new Error(`sim_step_${response.payload?.code ?? "failed"}`); + state = response.payload.wasm_motion?.state ?? session.wasmMotion.read().state; + task = { ...response.payload.task, motion: response.payload.motion, visual: response.payload.panel_snapshot?.visual }; + program = response.payload.program ?? session.xyzacProgram.snapshot(); + rows.push(rowFrom(state, task, program, tick)); + if (program.program_status === "completed" && Number(state.queue_depth) === 0) break; + } + const traceHash = sha256(JSON.stringify(rows)); + const sourceHash = sha256(source); + return { + schema: SCHEMA, + status: "verified", + case: { path: CASE, scope: "xyzac_only" }, + native_equivalent_inputs: { case_ini: sha256(await readFile(join(ROOT, CASE))), program: sourceHash }, + wasm: { module: "build-wasm/linuxcnc-sim-core.wasm", module_sha256: sha256(wasmBinary), authority: "linuxcnc-wasm-worker" }, + tick_source: "wasm_simulation_tick", + tick_integrity: { first: rows[0]?.wasm_tick ?? null, last: rows.at(-1)?.wasm_tick ?? null, row_count: rows.length, unique_count: new Set(rows.map((row) => row.wasm_tick)).size, strictly_monotonic: rows.every((row, index) => index === 0 || row.wasm_tick > rows[index - 1].wasm_tick) }, + rows, + row_count: rows.length, + trace_sha256: traceHash, + errors: [], + release_status: "STOP_RELEASE", + }; +} + +const args = process.argv.slice(2); +const ticksIndex = args.indexOf("--ticks"); +const outputIndex = args.indexOf("--output"); +const maxTicks = Math.max(1, Math.min(100000, Number(ticksIndex >= 0 ? args[ticksIndex + 1] : 3000))); +const output = outputIndex >= 0 ? resolve(args[outputIndex + 1]) : join(ROOT, "coverage/xyzac-wasm-tick-trace.report.json"); +try { + const report = await run(maxTicks); + const unsigned = { ...report, report_sha256: undefined }; + delete unsigned.report_sha256; + report.report_sha256 = sha256(JSON.stringify(unsigned)); + await writeFile(output, `${JSON.stringify(report, null, 2)}\n`); + console.log(JSON.stringify({ schema: report.schema, status: report.status, row_count: report.row_count, trace_sha256: report.trace_sha256, report_sha256: report.report_sha256 })); +} catch (error) { + console.error(JSON.stringify({ schema: SCHEMA, status: "blocked", error: String(error?.message ?? error) })); + process.exitCode = 1; +} diff --git a/wasm-core/include/sim_program.h b/wasm-core/include/sim_program.h index c1d0729..6be49d2 100644 --- a/wasm-core/include/sim_program.h +++ b/wasm-core/include/sim_program.h @@ -37,6 +37,12 @@ enum sim_program_status { SIM_PROGRAM_ERROR = 6, }; +enum sim_program_motion_control { + SIM_PROGRAM_MOTION_CONTINUOUS = 0, + SIM_PROGRAM_MOTION_EXACT_PATH = 1, + SIM_PROGRAM_MOTION_EXACT_STOP = 2, +}; + typedef struct sim_program_subroutine { char name[SIM_PROGRAM_SUBROUTINE_NAME_CAPACITY]; uint32_t body_line; @@ -70,6 +76,9 @@ typedef struct sim_program { uint32_t has_control; int32_t control_code; double rapid_velocity; + int motion_control_mode; + double path_tolerance; + double naive_cam_tolerance; } sim_program; uint32_t sim_program_size(void); diff --git a/wasm-core/src/sim_interpreter.c b/wasm-core/src/sim_interpreter.c index 0750d8c..737ea55 100644 --- a/wasm-core/src/sim_interpreter.c +++ b/wasm-core/src/sim_interpreter.c @@ -85,6 +85,10 @@ static int code_is(double value, int integer_code) { return isfinite(value) && fabs(value - (double)integer_code) <= 1e-12; } +static int code_is_value(double value, double expected) { + return isfinite(value) && fabs(value - expected) <= 1e-12; +} + static int axis_index(char letter) { switch (letter) { case 'X': return 0; case 'Y': return 1; case 'Z': return 2; @@ -346,7 +350,7 @@ static int apply_g(sim_interpreter_state *state, interpreter_meta *meta, double if (code_is(code, 40) || code_is(code, 41) || code_is(code, 42)) { if (++groups[4] > 1) return SIM_INTERP_ERR_STATE; if (meta) meta->cutter_comp = (int)code; return SIM_INTERP_OK; } if (code_is(code, 43) || code_is(code, 49)) { if (++groups[5] > 1) return SIM_INTERP_ERR_STATE; if (meta && code_is(code, 49)) meta->tool_length = 0.0; return SIM_INTERP_OK; } if (code_is(code, 80) || (code >= 81.0 && code <= 89.0 && floor(code) == code)) { if (meta) meta->cycle_mode = (int)code; return SIM_INTERP_OK; } - if (code_is(code, 64)) return SIM_INTERP_OK; + if (code_is(code, 61) || code_is_value(code, 61.1) || code_is(code, 64)) { if (++groups[7] > 1) return SIM_INTERP_ERR_STATE; return SIM_INTERP_OK; } if (code_is(code, 54) || code_is(code, 55) || code_is(code, 56) || code_is(code, 57) || code_is(code, 58) || code_is(code, 59)) { if (meta) meta->coordinate_system = (int)code - 53; return SIM_INTERP_OK; } if (code_is(code, 53)) return SIM_INTERP_OK; if (code_is(code, 10)) return SIM_INTERP_OK; @@ -444,7 +448,7 @@ int sim_interpreter_init(sim_interpreter *interpreter) { return sim_interpreter_ int sim_interpreter_execute(sim_interpreter *interpreter, const char *block, uint32_t length) { sim_interpreter_state previous; sim_interpreter_state next; interpreter_meta *meta; expression_parser parser; const char *end; - int groups[7] = {0}, seen_axis[9] = {0}, seen_feed = 0, seen_speed = 0, seen_line = 0, seen_p = 0, seen_r = 0, seen_l = 0, seen_g10 = 0, seen_g53 = 0, result = SIM_INTERP_OK; + int groups[8] = {0}, seen_axis[9] = {0}, seen_feed = 0, seen_speed = 0, seen_line = 0, seen_p = 0, seen_r = 0, seen_l = 0, seen_g10 = 0, seen_g53 = 0, result = SIM_INTERP_OK; int seen_center[3] = {0}; double axis_values[9] = {0}, center_values[3] = {0}, feed_value = 0.0, speed_value = 0.0, p_value = 0.0, r_value = 0.0, l_value = 0.0; if (interpreter == NULL || block == NULL || length == 0) return SIM_INTERP_ERR_ARGUMENT; diff --git a/wasm-core/src/sim_program.c b/wasm-core/src/sim_program.c index be633b7..d2c89c5 100644 --- a/wasm-core/src/sim_program.c +++ b/wasm-core/src/sim_program.c @@ -253,6 +253,45 @@ static int switch_mcode(const char *block, uint32_t length) { return 0; } +static int parse_motion_control(sim_program *program, const char *block, uint32_t length) { + const char *cursor = block; + const char *end = block + length; + int active = 0; + double path = 0.0; + double naive = 0.0; + while (cursor < end) { + char letter; + char *number_end; + double value; + while (cursor < end && isspace((unsigned char)*cursor)) ++cursor; + if (cursor >= end || *cursor == ';') break; + if (*cursor == '(') { while (cursor < end && *cursor++ != ')') {} continue; } + if (!isalpha((unsigned char)*cursor)) { ++cursor; continue; } + letter = (char)toupper((unsigned char)*cursor++); + value = strtod(cursor, &number_end); + if (number_end == cursor) continue; + cursor = number_end; + if (letter == 'G') { + if (fabs(value - 61.0) <= 1e-12) active = SIM_PROGRAM_MOTION_EXACT_PATH; + else if (fabs(value - 61.1) <= 1e-12) active = SIM_PROGRAM_MOTION_EXACT_STOP; + else if (fabs(value - 64.0) <= 1e-12) active = SIM_PROGRAM_MOTION_CONTINUOUS; + else active = 0; + if (active != 0 || fabs(value - 64.0) <= 1e-12) { + program->motion_control_mode = active; + path = 0.0; + naive = 0.0; + } + } else if (active == SIM_PROGRAM_MOTION_CONTINUOUS && (letter == 'P' || letter == 'Q')) { + if (!isfinite(value) || value < 0.0) return SIM_PROGRAM_ERR_RANGE; + if (letter == 'P') path = value; + else naive = value; + program->path_tolerance = path; + program->naive_cam_tolerance = naive; + } + } + return SIM_PROGRAM_OK; +} + static void reset_runtime(sim_program *program) { sim_interpreter_reset(&program->interpreter); program->source_length = 0; @@ -268,6 +307,9 @@ static void reset_runtime(sim_program *program) { program->has_control = 0; program->control_code = 0; program->rapid_velocity = 35.0; + program->motion_control_mode = SIM_PROGRAM_MOTION_CONTINUOUS; + program->path_tolerance = 0.0; + program->naive_cam_tolerance = 0.0; memset(&program->motion, 0, sizeof(program->motion)); memset(program->subroutines, 0, sizeof(program->subroutines)); memset(program->call_stack, 0, sizeof(program->call_stack)); @@ -356,6 +398,8 @@ int32_t sim_program_execute_block(sim_program *program, const char *block, uint3 int result; if (program == NULL || block == NULL || length == 0) return SIM_PROGRAM_ERR_ARGUMENT; if (control_line(block)) return SIM_PROGRAM_ERR_CONTROL; + result = parse_motion_control(program, block, length); + if (result != SIM_PROGRAM_OK) return result; program->has_control = 0; program->control_code = switch_mcode(block, length); if (program->control_code != 0) program->has_control = 1; @@ -449,8 +493,8 @@ uint32_t sim_program_canonical(const sim_program *program, char *output, uint32_ int written; if (program == NULL) return 0; written = snprintf(destination, destination_capacity, - "{\"call_depth\":%u,\"control_code\":%d,\"current_line\":%u,\"error_line\":%u,\"feed\":%.17g,\"has_control\":%u,\"has_motion\":%u,\"last_error\":%d,\"line_count\":%u,\"main_line_count\":%u,\"motion_mode\":%d,\"plane\":%d,\"rapid_velocity\":%.17g,\"schema\":\"sim_program.v1\",\"speed\":%.17g,\"spindle_mode\":%d,\"status\":%u,\"subroutine_count\":%u,\"source_length\":%u,\"units\":%d,\"distance_mode\":%d,\"interpreter_state_hash\":\"%llu\"}", - program->call_depth, program->control_code, program->current_line, program->error_line, program->interpreter.state.feed, program->has_control, program->has_motion, program->last_error, program->line_count, program->main_line_count, program->interpreter.state.motion_mode, program->interpreter.state.plane, program->rapid_velocity, program->interpreter.state.speed, program->interpreter.state.spindle_mode, program->status, program->subroutine_count, program->source_length, program->interpreter.state.units, program->interpreter.state.distance_mode, + "{\"call_depth\":%u,\"control_code\":%d,\"current_line\":%u,\"error_line\":%u,\"feed\":%.17g,\"has_control\":%u,\"has_motion\":%u,\"last_error\":%d,\"line_count\":%u,\"main_line_count\":%u,\"motion_control_mode\":%d,\"path_tolerance\":%.17g,\"naive_cam_tolerance\":%.17g,\"motion_mode\":%d,\"plane\":%d,\"rapid_velocity\":%.17g,\"schema\":\"sim_program.v1\",\"speed\":%.17g,\"spindle_mode\":%d,\"status\":%u,\"subroutine_count\":%u,\"source_length\":%u,\"units\":%d,\"distance_mode\":%d,\"interpreter_state_hash\":\"%llu\"}", + program->call_depth, program->control_code, program->current_line, program->error_line, program->interpreter.state.feed, program->has_control, program->has_motion, program->last_error, program->line_count, program->main_line_count, program->motion_control_mode, program->path_tolerance, program->naive_cam_tolerance, program->interpreter.state.motion_mode, program->interpreter.state.plane, program->rapid_velocity, program->interpreter.state.speed, program->interpreter.state.spindle_mode, program->status, program->subroutine_count, program->source_length, program->interpreter.state.units, program->interpreter.state.distance_mode, (unsigned long long)sim_interpreter_state_hash(&program->interpreter)); return written < 0 ? 0 : (uint32_t)written + 1u; } diff --git a/web/worker/sim-session.mjs b/web/worker/sim-session.mjs index 0e89081..f05ec97 100644 --- a/web/worker/sim-session.mjs +++ b/web/worker/sim-session.mjs @@ -1436,6 +1436,13 @@ export class SimSession { } const step = this.xyzacProgram.step(); if (step.status !== "verified") throw new Error(step.code); + // Path control is produced by the WASM interpreter and applied + // to the WASM trajectory queue before the block's motion is + // enqueued. G61/G61.1 conservatively use the queue's exact + // profile; G64 restores the continuous lookahead profile. + const motionControlMode = Number(step.program?.motion_control_mode ?? 0); + const queueProfile = motionControlMode === 0 ? 0 : 1; + if (this.wasmMotion.controls.profile !== queueProfile) this.wasmMotion.setProfile(queueProfile); if (step.has_control && [428, 429, 430].includes(step.control_code)) { this.pendingProgramControl = step.control_code; if (this.wasmMotion.read().state.queue_depth === 0) { diff --git a/web/worker/wasm-program-runtime.mjs b/web/worker/wasm-program-runtime.mjs index 6cd4ec5..9e15654 100644 --- a/web/worker/wasm-program-runtime.mjs +++ b/web/worker/wasm-program-runtime.mjs @@ -266,8 +266,9 @@ export class WasmProgramRuntime { const state = JSON.parse(readString(this.core, buffer, required)); const hash = call(this.core, "sim_program_state_hash", "number", ["number"], [this.pointer]); const programStatus = { 0: "idle", 1: "loaded", 2: "running", 3: "paused", 4: "completed", 5: "aborted", 6: "fault" }[state.status] ?? "idle"; + const motionControl = { 0: "continuous", 1: "exact_path", 2: "exact_stop" }[state.motion_control_mode] ?? "continuous"; const executionLineText = state.current_line > 0 ? (this.executionLines[state.current_line - 1] ?? "").trim() : ""; - return { schema: SCHEMA, source: "linuxcnc-wasm-sim_program", ...state, active_gcodes: activeGcodes(state), loaded: state.status !== 0, line: state.current_line, currentLine: state.current_line, execution_line: state.current_line, execution_line_text: executionLineText, program_status: programStatus, path: this.path, subroutines: this.subroutines.map((subroutine) => subroutine.name), state_hash: `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`, source_hash: this.source ? fnv1a64(this.source) : null }; + return { schema: SCHEMA, source: "linuxcnc-wasm-sim_program", ...state, motion_control: { mode: motionControl, path_tolerance: Number(state.path_tolerance ?? 0), naive_cam_tolerance: Number(state.naive_cam_tolerance ?? 0) }, active_gcodes: activeGcodes(state), loaded: state.status !== 0, line: state.current_line, currentLine: state.current_line, execution_line: state.current_line, execution_line_text: executionLineText, program_status: programStatus, path: this.path, subroutines: this.subroutines.map((subroutine) => subroutine.name), state_hash: `fnv1a64:${BigInt.asUintN(64, BigInt(hash >>> 0)).toString(16).padStart(16, "0")}`, source_hash: this.source ? fnv1a64(this.source) : null }; } finally { this.core._free(buffer); } }