95 lines
5.2 KiB
Python
95 lines
5.2 KiB
Python
#!/usr/bin/env python3
|
|
"""Generate deterministic native/WASM evidence for tripod kinematics."""
|
|
|
|
from __future__ import annotations
|
|
|
|
import argparse
|
|
import hashlib
|
|
import json
|
|
import re
|
|
import subprocess
|
|
from pathlib import Path
|
|
|
|
INPUTS = {
|
|
"source": "linuxcnc/src/emc/kinematics/tripodkins.c",
|
|
"config": "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
|
|
"hal": "linuxcnc/lib/hallib/tripodsim.hal",
|
|
"implementation": "wasm-core/src/sim_kinematics.c",
|
|
"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]:
|
|
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 JSON")
|
|
|
|
|
|
def hal_geometry(text: str) -> dict[str, float]:
|
|
values: dict[str, float] = {}
|
|
for name, value in re.findall(r"^setp\s+tripodkins\.(Bx|Cx|Cy)\s+([-+0-9.eE]+)\s*$", text, re.M):
|
|
values[name] = float(value)
|
|
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 = {"tripod": native_all["tripod"], "boundaries": native_all["delta_edges"]["tripod"]}
|
|
wasm = {"tripod": wasm_all["tripod"], "boundaries": wasm_all["delta_edges"]["tripod"]}
|
|
native_text = json.dumps(native, sort_keys=True, separators=(",", ":"))
|
|
wasm_text = json.dumps(wasm, sort_keys=True, separators=(",", ":"))
|
|
source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}
|
|
config_text = (root / INPUTS["config"]).read_text(encoding="utf-8")
|
|
hal_text = (root / INPUTS["hal"]).read_text(encoding="utf-8")
|
|
edges = native["boundaries"]
|
|
report = {
|
|
"schema": "tripod-kinematics-report.v1",
|
|
"status": "partial",
|
|
"implementation_status": "verified",
|
|
"source_records": source_records,
|
|
"configuration_candidate": {
|
|
"path": INPUTS["config"],
|
|
"kinematics": "tripodkins",
|
|
"joints": 3,
|
|
"coordinates": "XYZ",
|
|
"scan": "KINEMATICS = tripodkins" in config_text and "JOINTS = 3" in config_text,
|
|
"hal_library": INPUTS["hal"],
|
|
},
|
|
"geometry": {"base_A": [0.0, 0.0, 0.0], "base_B": [10.0, 0.0, 0.0], "base_C": [5.0, 7.071, 0.0], "hal_parameters": hal_geometry(hal_text), "joint_semantics": ["AD", "BD", "CD"]},
|
|
"mapping": {"coordinates": "XYZ", "kinematics_joint_count": 3, "axis_joint_mapping": {"X": 0, "Y": 1, "Z": 2}, "home_pose": [0.0, 0.0, 1.0]},
|
|
"solver": {"forward": "analytic trilateration", "inverse": "three Euclidean strut lengths", "default_branch": "Dz>0", "alternate_branch": "Dz<0 when SIM_KIN_TRIPOD_BELOW_ROOT is set", "iterations": 0, "convergence_tolerance": 0.0},
|
|
"workspace_and_boundaries": {"nominal": native["tripod"], "alternate_pose": edges["alternate_pose"], "root_branch": edges["branch"], "alternate_branch": edges["alternate_branch"], "no_solution_error": edges["no_solution"], "base_plane_singular_error": edges["singular"], "joint_limit_error": edges["limit_error"], "geometry_error": edges["geometry_error"], "iterations": edges["iterations"]},
|
|
"samples": {"native": native, "wasm": wasm, "byte_identical_json": native_text == wasm_text, "state_hash_identical": native["tripod"]["state_hash"] == wasm["tripod"]["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 above-root", "alternate below-root", "triangle-inequality no-solution", "base-plane singular", "joint-limit", "degenerate base geometry"]},
|
|
}
|
|
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/tripod-kinematics.report.json"))
|
|
args = parser.parse_args()
|
|
report = generate(args.repo_root, args.repo_root / args.output)
|
|
print(f"tripod_kinematics={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
|
|
return 0
|
|
|
|
|
|
if __name__ == "__main__":
|
|
raise SystemExit(main())
|