#!/usr/bin/env python3
"""Generate deterministic native/WASM evidence for pentapod kinematics."""
from __future__ import annotations
import argparse, hashlib, json, re, subprocess
from pathlib import Path

INPUTS = {
    "source": "linuxcnc/src/emc/kinematics/pentakins.c",
    "header": "linuxcnc/src/emc/kinematics/pentakins.h",
    "config": "linuxcnc/configs/sim/axis/pentapod/pentapod.ini",
    "hal": "linuxcnc/configs/sim/axis/pentapod/kinematics.hal",
    "implementation": "wasm-core/src/sim_kinematics.c",
    "kinematics_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]:
    result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True)
    if result.returncode:
        raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}")
    for line in reversed(result.stdout.splitlines()):
        if line.lstrip().startswith("{"):
            return json.loads(line)
    raise RuntimeError("runner did not emit JSON")

def parse_hal(path: Path) -> dict[str, list[float]]:
    values = {"base": [], "effector_radius": [], "effector_z": []}
    for line in path.read_text(encoding="utf-8").splitlines():
        match = re.match(r"setp\s+pentakins\.(base|effector)\.(\d+)\.(x|y|z|r)\s+([-+0-9.eE]+)", line)
        if not match:
            continue
        group, _, axis, raw = match.groups()
        key = "base" if group == "base" else ("effector_radius" if axis == "r" else "effector_z")
        values[key].append(float(raw))
    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 = {"pentapod": native_all["pentapod"], "boundaries": native_all["delta_edges"]["pentapod"]}
    wasm = {"pentapod": wasm_all["pentapod"], "boundaries": wasm_all["delta_edges"]["pentapod"]}
    config_text = (root / INPUTS["config"]).read_text(encoding="utf-8")
    report = {
        "schema": "pentapod-kinematics-report.v1", "status": "partial", "implementation_status": "verified",
        "source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()},
        "configuration_candidate": {"path": INPUTS["config"], "kinematics": "pentakins", "joints": 5, "coordinates": "XYZAB", "scan": "KINEMATICS = pentakins" in config_text and "JOINTS = 5" in config_text, "provenance": "shipped LinuxCNC simulation", "hal_geometry": parse_hal(root / INPUTS["hal"]), "hal_pins": ["last-iterations", "max-iterations", "limit-iterations", "max-error", "convergence-criterion", "tool-offset"]},
        "configuration_candidates": [
            {"id": "shipped-pentapod", "path": INPUTS["config"], "kind": "real", "coordinates": "XYZAB", "joints": 5},
            {"id": "offset-seed-regression", "path": "wasm-core/tests/sim_kinematics_test.c", "kind": "derived", "coordinates": "XYZAB", "joints": 5, "initial_pose": [0.0, 500.0, 300.0, 0.0, 0.0], "target_pose": [0.0, 500.0, 300.0, 0.01, -0.01], "purpose": "non-zero roll/pitch Newton convergence and native/WASM comparison"},
        ],
        "geometry": {"struts": 5, "orientation": "roll/pitch only; yaw is constrained to zero in the forward result", "units": "configuration units; XYZ linear and AB degrees", "tool_offset": "applied to both base and effector HAL z coordinates"},
        "mapping": {"coordinates": "XYZAB", "kinematics_joint_count": 5, "joint_semantics": ["strut-0", "strut-1", "strut-2", "strut-3", "strut-4"], "extra_joint_policy": "rejected"},
        "solver": {"inverse": "closed-form radial/z strut lengths", "forward": "Newton-Raphson 5x5 numerical Jacobian", "seed": [0.0, 500.0, 300.0, 0.0, 0.0], "seed_units": "XYZ in configuration units; A/B in radians internally", "default_iteration_limit": 120, "default_convergence_tolerance": 1e-9, "default_max_error": 1000.0, "alternate_seed_flag": "SIM_KIN_GENHEX_ALTERNATE_SEED bit 1; negative-z seed is explicitly bounded"},
        "workspace_and_boundaries": {"nominal": native["pentapod"], "alternate_seed": native["boundaries"]["alternate_pose"], "alternate_seed_error": native["boundaries"]["alternate_status"], "alternate_seed_iterations": native["boundaries"].get("alternate_iterations", 0), "nonpositive_joint_error": native["boundaries"]["nonpositive"], "nonpositive_joint_iterations": native["boundaries"].get("nonpositive_iterations", 0), "iteration_limit_error": native["boundaries"]["iteration_limit"], "iteration_limit_iterations": native["boundaries"].get("iteration_limit_iterations", 0), "max_error_boundary": native["boundaries"]["max_error"], "max_error_iterations": native["boundaries"].get("max_error_iterations", 0), "singular_jacobian_error": native["boundaries"]["singular"], "singular_jacobian_iterations": native["boundaries"].get("singular_iterations", 0), "joint_limit_error": native["boundaries"]["limit_error"], "posture_constraint": "C/yaw is not a configured joint and forward output is exactly zero", "iterations": native["pentapod"]["iterations"], "residual": native["pentapod"]["residual"]},
        "samples": {"native": native, "wasm": wasm, "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), "state_hash_identical": native["pentapod"]["state_hash"] == wasm["pentapod"]["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 five-strut pose", "negative-z seed", "nonpositive strut", "iteration limit", "maximum error", "singular Jacobian", "joint limit"]},
    }
    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/pentapod-kinematics.report.json"))
    args = parser.parse_args()
    report = generate(args.repo_root, args.repo_root / args.output)
    print(f"pentapod_kinematics={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
    return 0

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