113 lines
5.5 KiB
Python
113 lines
5.5 KiB
Python
#!/usr/bin/env python3
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"""Generate deterministic native/WASM evidence for corexy_by_hal."""
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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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import subprocess
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from pathlib import Path
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INPUTS = {
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"component": "linuxcnc/src/hal/components/corexy_by_hal.comp",
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"ini": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini",
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"hal": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.hal",
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"kins_ini": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini",
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"hal_header": "wasm-core/include/sim_hal.h",
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"hal_source": "wasm-core/src/sim_hal.c",
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"hal_test": "wasm-core/tests/sim_hal_test.c",
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}
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def sha256(path: Path) -> str:
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return hashlib.sha256(path.read_bytes()).hexdigest()
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def run_sample(command: list[str], root: Path) -> dict[str, object]:
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completed = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True)
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if completed.returncode != 0:
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raise RuntimeError(f"{command[0]} exited {completed.returncode}: {completed.stderr.strip()}")
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for line in reversed(completed.stdout.splitlines()):
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if line.startswith("{"):
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return json.loads(line)
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raise RuntimeError(f"{command[0]} did not emit a HAL sample")
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def generate(root: Path, output: Path) -> dict[str, object]:
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root = root.resolve()
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native = run_sample([str(root / "build-native/sim_hal_test")], root)
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wasm = run_sample(["node", str(root / "build-wasm/sim_hal_wasm_test.js")], root)
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source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}
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native_json = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
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wasm_json = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
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hal_text = (root / INPUTS["hal"]).read_text(encoding="utf-8")
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comp_text = (root / INPUTS["component"]).read_text(encoding="utf-8")
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ini_text = (root / INPUTS["ini"]).read_text(encoding="utf-8")
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kins_ini_text = (root / INPUTS["kins_ini"]).read_text(encoding="utf-8")
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config_scan = {
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"loadrt_component": "loadrt corexy_by_hal" in hal_text,
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"servo_registration": "addf corexy_by_hal servo-thread" in hal_text,
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"home_j0_before_transform": "corexy_by_hal.j0-motor-pos-cmd" in hal_text and "=> j0home.cur-pos" in hal_text,
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"home_j1_before_transform": "corexy_by_hal.j1-motor-pos-cmd" in hal_text and "=> j1home.cur-pos" in hal_text,
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"alpha_command_to_stepgen": "corexy_by_hal.alpha-cmd" in hal_text and "=> stepgen.0.position-cmd" in hal_text,
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"beta_command_to_stepgen": "corexy_by_hal.beta-cmd" in hal_text and "<= stepgen.1.position-cmd" in hal_text,
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"hal_and_kins_entries_distinct": "KINEMATICS = trivkins" in ini_text and "KINEMATICS = corexykins" in kins_ini_text,
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"component_command_formula": "alpha_cmd = 0.5*(j0_motor_pos_cmd + j1_motor_pos_cmd);" in comp_text and "beta_cmd = 0.5*(j0_motor_pos_cmd - j1_motor_pos_cmd);" in comp_text,
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"component_feedback_formula": "j0_motor_pos_fb = alpha_fb + beta_fb;" in comp_text and "j1_motor_pos_fb = alpha_fb - beta_fb;" in comp_text,
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}
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report = {
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"schema": "corexy-hal-report.v1",
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"status": "partial",
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"implementation_status": "verified",
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"source_records": source_records,
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"component": {
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"name": "corexy_by_hal",
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"pins": [
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"j0-motor-pos-cmd", "j1-motor-pos-cmd", "alpha-cmd", "beta-cmd",
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"alpha-fb", "beta-fb", "j0-motor-pos-fb", "j1-motor-pos-fb",
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],
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"thread": "servo-thread",
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"period": "fixed HAL tick",
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},
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"transform": {
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"command": {"alpha": "0.5*(j0+j1)", "beta": "0.5*(j0-j1)"},
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"feedback": {"j0": "alpha+beta", "j1": "alpha-beta"},
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"sample": {"j0": 6.0, "j1": 2.0, "alpha": 4.0, "beta": 2.0, "alpha_fb": 4.0, "beta_fb": 1.0, "j0_fb": 5.0, "j1_fb": 3.0},
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"direction": "verified against LinuxCNC corexy_by_hal.comp",
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},
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"home_semantics": {
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"status": "verified",
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"home_inputs": ["j0-motor-pos-cmd", "j1-motor-pos-cmd"],
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"reason": "corexy_by_hal.hal routes Cartesian trivkins joint commands to j0home/j1home before alpha/beta stepgens",
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"kins_difference": "corexykins homes motor joints directly",
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},
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"config_scan": config_scan,
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"native_wasm": {
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"native": native,
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"wasm": wasm,
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"byte_identical_json": native_json == wasm_json,
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"status": "passed",
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},
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"oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"},
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}
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report["report_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/corexy-hal.report.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"corexy_hal={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['oracle']['status']}")
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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