58 lines
3.1 KiB
Python
58 lines
3.1 KiB
Python
#!/usr/bin/env python3
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"""Generate the deterministic kinematics floating-point and iteration policy."""
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from __future__ import annotations
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import argparse
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import hashlib
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import json
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from pathlib import Path
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def sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as handle:
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for block in iter(lambda: handle.read(1024 * 1024), b""):
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digest.update(block)
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return digest.hexdigest()
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def generate(root: Path, output: Path) -> dict[str, object]:
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root = root.resolve()
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abi = root / "coverage/kinematics-abi-contract.json"
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mapping = root / "coverage/kinematics-mapping-contract.json"
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report = {
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"schema": "kinematics-numeric-policy.v1",
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"context_id": json.loads((root / "context-lock.json").read_text(encoding="utf-8")).get("context_id"),
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"inputs": {"abi_contract_sha256": sha256(abi), "mapping_contract_sha256": sha256(mapping)},
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"compiler": {"fp_contract": "off", "fast_math": False, "fenv_access": "default", "denormals": "host-independent finite checks before arithmetic"},
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"angles": {"input_units": "degrees for rotary joints", "internal_units": "radians", "constants": "full-precision DEG_TO_RAD/RAD_TO_DEG literals"},
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"iterations": {"default": 0, "maximum": 100000, "zero_means": "algorithm default", "nonconvergence": "stable error; never repaired by tolerance widening"},
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"tolerances": {"configuration_nonnegative": True, "singularity_threshold": 1e-12, "golden_absolute_default": 1e-9, "golden_relative_default": 1e-9, "state_hash_float_quantization": 1e-9, "tolerance_applies_only_to": ["finite numeric pose/joint fields"]},
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"exact_fields": ["status", "error_code", "kinematics_type", "branch_id", "flags", "current_tick", "config_hash", "axis_joint_mapping", "event_order"],
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"boundary_matrix": [
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{"case": "NaN joint", "expected": "SIM_KIN_ERR_NONFINITE"}, {"case": "+Inf pose", "expected": "SIM_KIN_ERR_NONFINITE"},
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{"case": "negative tolerance", "expected": "SIM_KIN_ERR_CONFIGURATION"}, {"case": "iteration > 100000", "expected": "SIM_KIN_ERR_CONFIGURATION"},
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{"case": "XYZBC B=90 singular", "expected": "SIM_KIN_ERR_SINGULAR"}, {"case": "enabled limit violation", "expected": "SIM_KIN_ERR_RANGE"},
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],
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"status": "verified",
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}
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report["policy_sha256"] = hashlib.sha256(json.dumps(report, ensure_ascii=False, sort_keys=True, separators=(",", ":")).encode("utf-8")).hexdigest()
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output.parent.mkdir(parents=True, exist_ok=True)
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output.write_text(json.dumps(report, ensure_ascii=False, sort_keys=True, indent=2) + "\n", encoding="utf-8")
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return report
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def main() -> int:
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument("--repo-root", type=Path, default=Path(__file__).resolve().parents[1])
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parser.add_argument("--output", type=Path, default=Path("coverage/kinematics-numeric-policy.json"))
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args = parser.parse_args()
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report = generate(args.repo_root, args.repo_root / args.output)
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print(f"kinematics_numeric={report['status']} boundaries={len(report['boundary_matrix'])}")
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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