#!/usr/bin/env python3
"""Generate deterministic native/WASM evidence for linear and rotary Delta."""

from __future__ import annotations

import argparse
import hashlib
import json
import subprocess
from pathlib import Path

SOURCES = {
    "linear_common": "linuxcnc/src/emc/kinematics/lineardeltakins-common.h",
    "linear_c": "linuxcnc/src/emc/kinematics/lineardeltakins.c",
    "linear_cc": "linuxcnc/src/emc/kinematics/lineardeltakins.cc",
    "rotary_common": "linuxcnc/src/emc/kinematics/rotarydeltakins-common.h",
    "rotary_c": "linuxcnc/src/emc/kinematics/rotarydeltakins.c",
    "rotary_cc": "linuxcnc/src/emc/kinematics/rotarydeltakins.cc",
    "implementation": "wasm-core/src/sim_kinematics.c",
    "header": "wasm-core/include/sim_kinematics.h",
    "test": "wasm-core/tests/sim_kinematics_test.c",
}
CONFIGS = {
    "linear_axis": "linuxcnc/configs/sim/axis/ldelta.ini",
    "linear_demo": "linuxcnc/configs/sim/axis/ldelta_demo.ini",
    "linear_tklinuxcnc": "linuxcnc/configs/sim/tklinuxcnc/ldelta.ini",
    "rotary_axis": "linuxcnc/configs/sim/axis/rdelta.ini",
}


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 a JSON sample")


def generate(root: Path, output: Path) -> dict[str, object]:
    root = root.resolve()
    native = run_json([str(root / "build-native/sim_kinematics_test")], root)
    wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root)
    native_delta = {key: native[key] for key in ("lineardelta", "rotarydelta", "delta_edges")}
    wasm_delta = {key: wasm[key] for key in ("lineardelta", "rotarydelta", "delta_edges")}
    native_text = json.dumps(native_delta, sort_keys=True, separators=(",", ":"))
    wasm_text = json.dumps(wasm_delta, sort_keys=True, separators=(",", ":"))
    source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in SOURCES.items()}
    config_records = {}
    missing_hal = []
    for name, path in CONFIGS.items():
        text = (root / path).read_text(encoding="utf-8")
        hal_refs = [line.split("=", 1)[1].strip() for line in text.splitlines() if line.strip().startswith("HALFILE") and "=" in line]
        missing = [str((Path(path).parent / ref).as_posix()) for ref in hal_refs if not (root / Path(path).parent / ref).is_file()]
        missing_hal.extend(missing)
        config_records[name] = {
            "path": path,
            "sha256": sha256(root / path),
            "kinematics": "rotarydeltakins" if "rdelta" in path else "lineardeltakins",
            "hal_files": hal_refs,
            "missing_hal_files": sorted(missing),
        }
    edges = native_delta["delta_edges"]
    report = {
        "schema": "delta-kinematics-report.v1",
        "status": "partial",
        "implementation_status": "verified",
        "source_records": source_records,
        "configuration_candidates": config_records,
        "configuration_candidate_count": len(config_records),
        "geometry": {
            "linear": {"radius": 130.25, "rod_length": 269.0, "units": "mm", "tower_layout": "120-degree equilateral"},
            "rotary": {"platform_radius": 10.0, "thigh_length": 10.0, "shin_length": 14.0, "foot_radius": 6.0, "joint_units": "degrees"},
        },
        "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"},
        "families": {
            "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"]},
            "rotary_delta": {"module": "rotarydeltakins", "forward": "three rotary knee constraints -> quadratic platform root", "inverse": "three rotated leg intersections", "configuration_candidates": ["rotary_axis"]},
        },
        "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"},
        "workspace_and_boundaries": {
            "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"]},
            "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"]},
        },
        "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"]},
        "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": ["linear nominal/root", "linear alternate root", "linear no-solution", "linear joint-limit", "rotary nominal/root", "rotary alternate root", "rotary z=0 singular"]},
        "resource_gaps": {"missing_hal_files": sorted(set(missing_hal)), "policy": "retained as missing inputs; no configuration smoke is promoted to numeric golden"},
    }
    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/delta-kinematics.report.json"))
    args = parser.parse_args()
    report = generate(args.repo_root, args.repo_root / args.output)
    print(f"delta_kinematics={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
    return 0


if __name__ == "__main__":
    raise SystemExit(main())