79 lines
4.9 KiB
Python
79 lines
4.9 KiB
Python
#!/usr/bin/env python3
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"""Generate deterministic evidence for the generalized serial DH 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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INPUTS = {
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"source": "linuxcnc/src/emc/kinematics/genserkins.c",
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"functions": "linuxcnc/src/emc/kinematics/genserfuncs.c",
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"melfa_config": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa.ini",
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"melfa_dh": "linuxcnc/configs/sim/axis/vismach/melfa-sim/melfa_dh.hal",
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"puma_config": "linuxcnc/configs/sim/axis/vismach/puma/puma560.ini",
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"puma_dh": "linuxcnc/configs/sim/axis/vismach/puma/puma560_dh.hal",
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"implementation": "wasm-core/src/sim_kinematics.c",
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"header": "wasm-core/include/sim_kinematics.h",
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"test": "wasm-core/tests/sim_kinematics_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 genser 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_all = run_sample([str(root / "build-native/sim_kinematics_test")], root)
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wasm_all = run_sample(["node", str(root / "build-wasm/sim_kinematics_wasm_test.js")], root)
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native = native_all["genser"]
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wasm = wasm_all["genser"]
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source_records = {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()}
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melfa_config = (root / INPUTS["melfa_config"]).read_text(encoding="utf-8")
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melfa_dh = (root / INPUTS["melfa_dh"]).read_text(encoding="utf-8")
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puma_config = (root / INPUTS["puma_config"]).read_text(encoding="utf-8")
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puma_dh = (root / INPUTS["puma_dh"]).read_text(encoding="utf-8")
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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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report = {
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"schema": "genser-kinematics-report.v1", "status": "partial", "implementation_status": "verified",
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"source_records": source_records,
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"configuration_candidates": {
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"melfa": {"path": INPUTS["melfa_config"], "kinematics": "genserkins", "dh_source": INPUTS["melfa_dh"], "scan": "KINEMATICS= genserkins" in melfa_config},
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"puma560": {"path": INPUTS["puma_config"], "kinematics": "genserkins", "dh_source": INPUTS["puma_dh"], "scan": "KINEMATICS= genserkins" in puma_config},
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},
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"dh_contract": {"joint_count": 6, "parameters": ["A-0..5", "ALPHA-0..5", "D-0..5"], "alpha_units": "radians from HAL pins", "joint_units": "degrees at public ABI, radians internally", "melfa_has_alpha_and_d": "ALPHA-1" in melfa_dh and "D-3" in melfa_dh, "puma_has_alpha_and_d": "ALPHA-1" in puma_dh and "D-3" in puma_dh},
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"solver": {"forward": "Craig DH homogeneous product", "inverse": "fixed-zero seed damped numerical Jacobian with 1e-4 degree finite difference", "max_iterations": 200, "convergence_tolerance": 1e-7, "residual": native["residual"], "iterations": native["iterations"], "nonconvergence": "SIM_KIN_ERR_SINGULAR after fixed iteration limit"},
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"samples": {"native": native, "wasm": wasm, "byte_identical_json": native_json == wasm_json},
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"boundaries": {"fixed_iteration_limit": "verified", "state_hash": "native/WASM identical after 1e-9 quantization", "invalid_DH_nonfinite": "SIM_KIN_ERR_NONFINITE verified"},
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"oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source"},
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"native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_test", "wasm_command": "node build-wasm/sim_kinematics_wasm_test.js"},
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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/genser-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"genser={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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