linuxcncWebWASM/scripts/generate_authoritative_kinematics_s6_04.py

#!/usr/bin/env python3
"""Generate deterministic S6-04 authoritative Tripod evidence."""

from __future__ import annotations

import argparse
import hashlib
import json
import subprocess
from pathlib import Path
from typing import Any


CONTEXT_ID = "linuxcnc-2.10.0-pre0-wasm-m1-py-c1"
WORKER = ("node", "web/worker/test_authoritative_kinematics_s6_04.mjs")
PAIRS = {
    "kinematics": (("build-native/sim_kinematics_test",), ("node", "build-wasm/sim_kinematics_wasm_test.js")),
    "kinematics_motion": (("build-native/sim_kinematics_motion_test",), ("node", "build-wasm/sim_kinematics_motion_wasm_test.js")),
}
INPUTS = (
    "coverage/authoritative-kinematics-s6.report.json",
    "coverage/kinematics-registry.report.json",
    "coverage/tripod-kinematics.report.json",
    "coverage/kinematics-motion.report.json",
    "wasm-core/include/sim_kinematics.h",
    "wasm-core/src/sim_kinematics.c",
    "wasm-core/include/sim_kinematics_motion.h",
    "wasm-core/src/sim_kinematics_motion.c",
    "web/worker/authoritative-runtime.mjs",
    "web/worker/sim-session.mjs",
    "linuxcnc/src/emc/kinematics/tripodkins.c",
    "linuxcnc/configs/sim/tklinuxcnc/tripod.ini",
    "linuxcnc/lib/hallib/tripodsim.hal",
    "wasm-core/tests/sim_kinematics_test.c",
    "web/worker/test_authoritative_kinematics_s6_04.mjs",
)


def canonical(value: Any) -> str:
    return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":"))


def digest(value: bytes) -> str:
    return hashlib.sha256(value).hexdigest()


def run(root: Path, args: tuple[str, ...]) -> dict[str, Any]:
    result = subprocess.run(args, cwd=root, stdout=subprocess.PIPE, stderr=subprocess.PIPE, check=False)
    return {
        "command": list(args),
        "returncode": result.returncode,
        "status": "PASSED" if result.returncode == 0 else "FAILED",
        "stdout_sha256": digest(result.stdout),
        "stderr_sha256": digest(result.stderr),
        "stdout": result.stdout.decode("utf-8", errors="replace"),
        "stderr": result.stderr.decode("utf-8", errors="replace"),
    }


def no_output(result: dict[str, Any]) -> dict[str, Any]:
    return {key: value for key, value in result.items() if key not in {"stdout", "stderr"}}


def parse(result: dict[str, Any]) -> dict[str, Any] | None:
    for line in reversed(result["stdout"].splitlines()):
        if line.lstrip().startswith("{"):
            try:
                return json.loads(line)
            except json.JSONDecodeError:
                continue
    return None


def artifact(root: Path, path: str) -> dict[str, Any]:
    value = root / path
    if not value.is_file():
        return {"path": path, "status": "missing"}
    return {"path": path, "bytes": value.stat().st_size, "sha256": digest(value.read_bytes())}


def generate(root: Path, output: Path) -> dict[str, Any]:
    worker_result = run(root, WORKER)
    worker = parse(worker_result)
    native_wasm: dict[str, Any] = {}
    pair_ok = True
    for name, (native_command, wasm_command) in PAIRS.items():
        native = run(root, native_command)
        wasm = run(root, wasm_command)
        equal = native["returncode"] == 0 and wasm["returncode"] == 0 and native["stdout"] == wasm["stdout"]
        pair_ok = pair_ok and equal
        native_wasm[name] = {
            "native": no_output(native),
            "wasm": no_output(wasm),
            "golden_diff": {
                "status": "PASSED" if equal else "FAILED",
                "byte_identical": equal,
                "native_stdout_sha256": native["stdout_sha256"],
                "wasm_stdout_sha256": wasm["stdout_sha256"],
            },
        }
    ctest = run(root, ("ctest", "--test-dir", "build-native", "-R", "^(sim_kinematics_test|sim_kinematics_motion_test)$", "--output-on-failure"))
    supported = worker.get("supported", {}) if worker else {}
    parity = worker.get("parity", {}) if worker else {}
    worker_ok = (
        worker_result["returncode"] == 0
        and worker is not None
        and worker.get("status") == "verified"
        and supported.get("type") == "tripod"
        and supported.get("source_family") == "tripodkins"
        and supported.get("pose") == [2, 3, 4]
        and len(supported.get("joints", [])) == 3
        and parity.get("mode", {}).get("equal") is True
        and parity.get("recovery", {}).get("equal") is True
    )
    report: dict[str, Any] = {
        "schema": "authoritative-kinematics-s6-04.v1",
        "task_id": "S6-04",
        "context_id": CONTEXT_ID,
        "status": "verified" if worker_ok and pair_ok and ctest["returncode"] == 0 else "blocked",
        "scope": {
            "selected_family": "parallel_tripod",
            "kinematics": "tripod",
            "source_module": "tripodkins",
            "pose": [2, 3, 4],
            "joints": ["AD", "BD", "CD"],
            "joint_count": 3,
            "geometry": {"base": [[0, 0], [10, 0], [5, 7.071]], "units": "mm"},
            "unsupported_error": "authoritative_kinematics_unsupported",
        },
        "selection": {
            "family": "parallel_tripod",
            "basis": [
                "S6-03 authoritative CoreXY report is verified and supplies the fixed-tick planner/recovery contract",
                "tripod-kinematics report has verified implementation and passed native/WASM samples with a real tripod.ini/tripodsim.hal candidate",
                "Tripod uses the existing XYZ plus three-joint authoritative shape, so no frozen ABI/protocol/schema expansion is required",
            ],
            "not_promoted": ["TRT", "serial_robot", "Delta", "Hexapod", "Pentapod", "switch", "user", "official_oracle"],
        },
        "worker": {"execution": no_output(worker_result), "sample": worker},
        "native_wasm": native_wasm,
        "ctest": no_output(ctest),
        "inputs": [artifact(root, path) for path in INPUTS],
        "boundaries": [
            "TRT, serial robot, Delta, Hexapod, Pentapod and switch/user families remain queued for later slices",
            "official LinuxCNC kinematics oracle remains SOURCE_BLOCKED",
            "tripod native/WASM golden is implementation evidence, not official oracle evidence",
        ],
    }
    report["report_sha256"] = digest(canonical({key: value for key, value in report.items() if key != "report_sha256"}).encode())
    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("--report", type=Path, default=Path("coverage/authoritative-kinematics-s6-04.report.json"))
    args = parser.parse_args()
    root = args.repo_root.resolve()
    output = args.report if args.report.is_absolute() else root / args.report
    report = generate(root, output)
    print(f"authoritative_kinematics_s6_04={report['status']} family={report['scope']['selected_family']}")
    return 0 if report["status"] == "verified" else 1


if __name__ == "__main__":
    raise SystemExit(main())