102 lines
4.7 KiB
Python
102 lines
4.7 KiB
Python
#!/usr/bin/env python3
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"""Generate native/WASM evidence for LinuxCNC 5axiskins."""
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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/5axiskins.c",
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"config": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axis.ini",
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"hal": "linuxcnc/configs/sim/axis/vismach/5axis/bridgemill/5axisgui.hal",
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"header": "wasm-core/include/sim_kinematics.h",
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"source_impl": "wasm-core/src/sim_kinematics.c",
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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 kinematics 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["fiveaxiskins"]
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wasm = wasm_all["fiveaxiskins"]
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config_text = (root / INPUTS["config"]).read_text(encoding="utf-8")
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source_text = (root / INPUTS["source"]).read_text(encoding="utf-8")
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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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report = {
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"schema": "fiveaxis-kinematics-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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"configuration": {
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"path": INPUTS["config"],
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"kinematics": "5axiskins",
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"coordinates": "xyzbcwy",
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"joints": 7,
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"pivot_length_default": 250.0,
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"required_coordinates": "XYZBCW",
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"duplicate_axis": "Y at joint 1 and suffix joint 6; first-wins mapping with suffix synchronized",
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"scan": {
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"kins_entry": "KINEMATICS = 5axiskins coordinates=xyzbcwy" in config_text,
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"joint_count": "JOINTS = 7" in config_text or "JOINTS = 7" in config_text,
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"pivot_pin": "5axiskins.pivot-length" in (root / INPUTS["hal"]).read_text(encoding="utf-8"),
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},
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},
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"formula": {
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"forward": "X=JX+r*sin(180-B)*cos(C), Y=JY+r*sin(180-B)*sin(C), Z=JZ+pivot+r*cos(180-B)",
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"inverse": "subtract the same spherical vector, then map pose to coordinates",
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"source_spherical_helper": "s2r",
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"source_contains_required_coordinates": "REQUIRED_COORDINATES \"XYZBCW\"" in source_text,
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},
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"sample": {"native": native, "wasm": wasm, "byte_identical_json": native_json == wasm_json},
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"boundary": {
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"round_trip": "verified",
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"missing_required_coordinate": "SIM_KIN_ERR_CONFIGURATION verified",
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"duplicate_axis_suffix": "verified",
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"pivot_length": "250.0 verified",
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"state_hash": "native/WASM identical",
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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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"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/fiveaxis-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"fiveaxis={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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