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Run XYZAC through upstream LinuxCNC TP

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wangdequan
2026-09-01 11:44:05 +08:00
parent bbdfad8364
commit d18141ec81
23 changed files with 1550 additions and 139 deletions
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72
scripts/compare_xyzac_native_wasm_tick_trace.py
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@@ -6,6 +6,7 @@ from __future__ import annotations
import hashlib
import json
import subprocess
import math
from pathlib import Path
from typing import Any
@@ -53,25 +54,70 @@ def canonical_row(row: dict[str, Any]) -> dict[str, Any]:
return result
def values_equal(left: Any, right: Any, absolute: float = 1e-9, relative: float = 1e-9) -> bool:
if isinstance(left, (int, float)) and isinstance(right, (int, float)) and not isinstance(left, bool) and not isinstance(right, bool):
scale = max(abs(float(left)), abs(float(right)), 1.0)
return abs(float(left) - float(right)) <= max(absolute, relative * scale)
if isinstance(left, list) and isinstance(right, list):
return len(left) == len(right) and all(values_equal(a, b, absolute, relative) for a, b in zip(left, right))
return left == right
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}
authoritative_fields = ("task_state", "task_mode", "interp_state", "exec_state", "current_line", "motion_line", "commanded_pose", "joint_commanded", "velocity", "acceleration", "queue_depth", "active_queue", "queue_full", "motion_id", "active_segment_id", "position", "homed", "limits", "kinematics_type", "motion_type", "paused")
feedback_fields = ("actual_pose", "joint_actual")
def segments(rows: list[dict[str, Any]]) -> list[tuple[int, list[dict[str, Any]]]]:
result: list[tuple[int, list[dict[str, Any]]]] = []
for row in rows:
motion_id = int(row.get("motion_id") or 0)
if motion_id > 0:
if not result or result[-1][0] != motion_id:
result.append((motion_id, []))
result[-1][1].append(row)
return result
native_segments = segments(native)
wasm_segments = segments(wasm)
if [motion_id for motion_id, _ in native_segments] != [motion_id for motion_id, _ in wasm_segments]:
return {"status": "diverged", "category": "segment_schedule", "first_divergent_tick": 0, "difference_path": "$.segments", "native": [motion_id for motion_id, _ in native_segments], "wasm": [motion_id for motion_id, _ in wasm_segments]}
sample_index = 0
duration_deltas: dict[str, int] = {}
for segment_index, ((motion_id, native_segment), (_, wasm_segment)) in enumerate(zip(native_segments, wasm_segments)):
if len(native_segment) != len(wasm_segment):
duration_deltas[f"{segment_index}:{motion_id}"] = len(native_segment) - len(wasm_segment)
if segment_index != len(native_segments) - 1:
return {"status": "diverged", "category": "segment_duration", "first_divergent_tick": sample_index, "difference_path": f"$.segments[{segment_index}].length", "native": len(native_segment), "wasm": len(wasm_segment)}
for native_row, wasm_row in zip(native_segment, wasm_segment):
native_row = canonical_row(native_row)
wasm_row = canonical_row(wasm_row)
index = sample_index
sample_index += 1
for category, fields in (("authoritative", authoritative_fields), ("feedback", feedback_fields)):
for field in fields:
if not values_equal(native_row.get(field), wasm_row.get(field)):
return {"status": "diverged", "category": category, "motion_id": motion_id, "first_divergent_tick": index, "difference_path": f"$.segments[{motion_id}][{index}].{field}", "native": native_row.get(field), "wasm": wasm_row.get(field)}
return {"status": "verified_partial" if duration_deltas else "verified", "category": "all", "first_divergent_tick": None, "difference_path": None, "duration_deltas": duration_deltas}
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)
native_rows = native.get("rows", [])
target_rows = max(1, min(5000, int(native.get("row_count") or 1)))
elapsed_ms = max((float(row.get("native_elapsed_ms", 0.0)) for row in native_rows), default=0.0)
wasm_ticks = max(1, math.ceil(elapsed_ms / 10.0))
# A full XYZAC remap run can contain tens of thousands of 1 ms servo
# samples. The timeout is a liveness guard, not a parity boundary; keep
# it well above the native elapsed window so a valid complete replay is
# never replaced by a stale short-window report.
timeout_seconds = max(1800, int(elapsed_ms / 1000.0 * 8 + 120))
try:
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=timeout_seconds)
except subprocess.TimeoutExpired as error:
output = error.stdout or ""
if isinstance(output, bytes): output = output.decode("utf-8", errors="replace")
build = subprocess.CompletedProcess(error.cmd, 124, stdout=output + "\nwasm_replay_timeout")
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}
comparison = compare_rows(native.get("rows", [])[:target_rows], wasm.get("rows", [])[:target_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"],