112 lines
5.6 KiB
Python
112 lines
5.6 KiB
Python
#!/usr/bin/env python3
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"""Generate native/WASM evidence for the CoreXY, Rose, MaxKins and RotateKins slice."""
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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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SOURCES = {
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"corexy": "linuxcnc/src/emc/kinematics/corexykins.c",
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"rose": "linuxcnc/src/emc/kinematics/rosekins.c",
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"maxkins": "linuxcnc/src/emc/kinematics/maxkins.c",
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"rotatekins": "linuxcnc/src/emc/kinematics/rotatekins.c",
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}
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CONFIGS = {
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"corexy_kins": "linuxcnc/configs/sim/axis/corexy/corexy_by_kins.ini",
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"corexy_hal": "linuxcnc/configs/sim/axis/corexy/corexy_by_hal.ini",
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"rose": "linuxcnc/configs/sim/axis/rose_engine/rose_engine.ini",
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"maxkins": "linuxcnc/configs/sim/axis/vismach/5axis/max5/max5kins.ini",
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"rotatekins": "linuxcnc/configs/sim/axis/rotate/rotatekins.ini",
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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_json(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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line = line.strip()
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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 JSON 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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closure = json.loads((root / "coverage/kinematics-source-closure.report.json").read_text(encoding="utf-8"))
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native = run_json([str(root / "build-native/sim_kinematics_test")], root)
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wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root)
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native_text = json.dumps(native, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
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wasm_text = json.dumps(wasm, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
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family = {row["family"]: row for row in closure["families"]}
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coupled = family["coupled_linear"]
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cartesian = family["cartesian"]
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source_records = {
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name: {"path": path, "sha256": sha256(root / path)} for name, path in SOURCES.items()
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}
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config_records = {
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name: {"path": path, "sha256": sha256(root / path)} for name, path in CONFIGS.items()
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}
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report = {
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"schema": "coupled-kinematics-report.v1",
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"context_id": closure["context_id"],
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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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"configuration_candidates": config_records,
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"configuration_candidate_origin": {"rotatekins": "workspace_derived_fixture; LinuxCNC locked source has no shipped rotatekins config"},
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"families": {
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"corexy": {"forward": "X=0.5*(J0+J1), Y=0.5*(J0-J1), Z=J2", "round_trip": "verified", "boundary": "configuration coordinate requirements verified"},
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"rose": {"forward": "X=R*cos(theta), Y=R*sin(theta), Z=J1; theta=J2 degrees", "round_trip": "verified", "quadrant_continuity": "verified", "branch_state": "previous quadrant plus revolution count"},
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"maxkins": {"forward": "LinuxCNC maxkins pivot/B/C/U/V/W correction formula", "round_trip": "verified", "boundary": "pivot_length=0 and pivot_length=0.666 verified"},
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"rotatekins": {"forward": "XY rotation by -C degrees; Z and optional axes direct", "round_trip": "verified", "boundary": "90 degree rotation verified"},
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},
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"samples": {"native": native, "wasm": wasm, "byte_identical_json": native_text == wasm_text},
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"state_hash": {
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"native": {name: native[name]["state_hash"] for name in ("corexy", "rose", "maxkins", "rotatekins")},
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"wasm": {name: wasm[name]["state_hash"] for name in ("corexy", "rose", "maxkins", "rotatekins")},
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"stable": native_text == wasm_text,
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},
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"corexy_entry_distinction": {
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"kins_configuration": CONFIGS["corexy_kins"],
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"hal_configuration": CONFIGS["corexy_hal"],
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"hal_component": "linuxcnc/src/hal/components/corexy_by_hal.comp",
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"distinct": True,
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},
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"closure": {
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"coupled_linear_source_ids": coupled["source_ids"],
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"max_rotate_source_ids": [source_records["maxkins"]["path"], source_records["rotatekins"]["path"]],
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"official_oracle": "blocked",
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"blocking_reason": "linuxcnc/unit_tests/kinematics is absent from the locked source",
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"cartesian_candidate_ids": cartesian["configuration_ids"][:8],
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},
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"native_wasm": {"native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js", "status": "passed"},
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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/coupled-kinematics.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"coupled_kinematics={report['status']} native_wasm={report['native_wasm']['status']} oracle={report['closure']['official_oracle']}")
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return 0
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if __name__ == "__main__":
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raise SystemExit(main())
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