67 lines
3.2 KiB
Python
67 lines
3.2 KiB
Python
#!/usr/bin/env python3
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"""Generate deterministic P3-05 motion/jog/fault evidence."""
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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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from typing import Any
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OUTPUTS = (
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Path("web/worker/motion-state.mjs"),
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Path("web/worker/sim-session.mjs"),
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Path("web/worker/test_motion_state.mjs"),
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)
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def canonical(value: Any) -> str:
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return json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":"))
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def sha256(path: Path) -> str:
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digest = hashlib.sha256()
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with path.open("rb") as handle:
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for chunk in iter(lambda: handle.read(1024 * 1024), b""):
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digest.update(chunk)
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return digest.hexdigest()
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def generate(root: Path, report_path: Path) -> dict[str, Any]:
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result = subprocess.run(["node", "web/worker/test_motion_state.mjs"], cwd=root, stdout=subprocess.PIPE, stderr=subprocess.PIPE, check=False)
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report: dict[str, Any] = {
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"schema": "motion-state-report.v1",
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"task_id": "P3-05",
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"context_id": "linuxcnc-2.10.0-pre0-wasm-m1-py-c1",
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"status": "verified" if result.returncode == 0 else "blocked",
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"state": {"axes": ["x", "y", "z"], "joints": 3, "fixed_cycle_distance": 0.001, "state_hash": "fnv1a64 canonical motion state"},
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"commands": ["HOME", "JOG_START", "JOG_STOP", "SET_OVERRIDE", "LIMIT_SET", "FOLLOWING_ERROR", "ESTOP"],
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"faults": ["motion_unhomed", "motion_faulted", "limit", "following_error", "estop", "position_range"],
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"limits": {"override": [0, 2], "jog_speed": [0, 1000000], "following_error_trip": 0.01, "position": 1000000000},
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"determinism": {"wall_clock": False, "random": False, "native_kinematics_adapters": ["sim_kinematics_motion", "sim_kinematics_feedback", "sim_kinematics_home_limit"], "worker_hash_replay": True},
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"outputs": [{"path": path.as_posix(), "bytes": (root / path).stat().st_size, "sha256": sha256(root / path)} for path in OUTPUTS],
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"test": {"status": "verified" if result.returncode == 0 else "blocked", "command": "node web/worker/test_motion_state.mjs", "stdout": result.stdout.decode("utf-8", errors="replace")[-4000:], "stderr": result.stderr.decode("utf-8", errors="replace")[-4000:]},
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"known_boundaries": ["kinematics family registry remains P3-06/P3-07", "real hardware transport is REAL-EXCLUDED"],
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}
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report["report_sha256"] = hashlib.sha256(canonical(report).encode("utf-8")).hexdigest()
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report_path.parent.mkdir(parents=True, exist_ok=True)
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report_path.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("--report", type=Path, default=Path("coverage/motion-state.report.json"))
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args = parser.parse_args()
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report = generate(args.repo_root.resolve(), args.repo_root.resolve() / args.report)
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print(f"motion_state={report['status']} test={report['test']['status']}")
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return 0 if report["status"] == "verified" else 1
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if __name__ == "__main__":
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raise SystemExit(main())
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