78 lines
4.2 KiB
Python
78 lines
4.2 KiB
Python
#!/usr/bin/env python3
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"""Generate a deterministic ABI contract from sim_kinematics.h and CMake exports."""
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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 re
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from pathlib import Path
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HEADER = Path("wasm-core/include/sim_kinematics.h")
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CMAKE = Path("wasm-core/CMakeLists.txt")
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REQUIRED_FUNCTIONS = [
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"sim_kinematics_init", "sim_kinematics_forward", "sim_kinematics_forward_ex",
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"sim_kinematics_inverse", "sim_kinematics_inverse_ex", "sim_kinematics_home",
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"sim_kinematics_validate_pose", "sim_kinematics_state_hash",
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]
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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 block in iter(lambda: handle.read(1024 * 1024), b""):
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digest.update(block)
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return digest.hexdigest()
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def generate(root: Path, output: Path) -> dict[str, object]:
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root = root.resolve()
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header_path, cmake_path = root / HEADER, root / CMAKE
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header = header_path.read_text(encoding="utf-8")
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cmake = cmake_path.read_text(encoding="utf-8")
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enums: dict[str, list[dict[str, object]]] = {}
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for match in re.finditer(r"enum\s+(sim_kinematics_result|sim_kinematics_type|sim_kinematics_mode)\s*\{(.*?)\};", header, re.S):
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values: list[dict[str, object]] = []
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for item in match.group(2).split(","):
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item = item.strip()
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if not item:
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continue
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name, _, value = item.partition("=")
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values.append({"name": name.strip(), "value": int(value.strip()) if value.strip().lstrip("-").isdigit() else None})
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enums[match.group(1)] = values
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structs: dict[str, list[str]] = {}
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for match in re.finditer(r"typedef\s+struct\s+(sim_kinematics_config|sim_kinematics|sim_kinematics_result_info)\s*\{(.*?)\}\s*\1\s*;", header, re.S):
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structs[match.group(1)] = [re.sub(r"\s+", " ", line.strip()) for line in match.group(2).splitlines() if line.strip() and not line.strip().startswith("/*")]
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declared_functions = sorted(set(re.findall(r"\b(sim_kinematics_[A-Za-z0-9_]+)\s*\(", header)))
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exported_functions = sorted(set(re.findall(r"'_?(sim_kinematics_[A-Za-z0-9_]+)'", cmake)))
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missing_exports = sorted(set(REQUIRED_FUNCTIONS) - set(exported_functions))
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report = {
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"schema": "kinematics-abi-contract.v1", "abi_version": 1, "context_id": json.loads((root / "context-lock.json").read_text(encoding="utf-8")).get("context_id"),
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"inputs": {"header": HEADER.as_posix(), "header_sha256": sha256(header_path), "cmake": CMAKE.as_posix(), "cmake_sha256": sha256(cmake_path)},
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"enums": enums, "structs": structs, "declared_functions": declared_functions,
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"required_functions": REQUIRED_FUNCTIONS, "exported_functions": exported_functions, "missing_required_exports": missing_exports,
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"numeric_policy": {"fp_contract": "off", "fast_math": False, "nonfinite": "SIM_KIN_ERR_NONFINITE", "state_hash": "FNV-1a-64", "iteration_limit": 100000},
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"errors": {"SIM_KIN_OK": 0, "SIM_KIN_ERR_ARGUMENT": -700, "SIM_KIN_ERR_NONFINITE": -701, "SIM_KIN_ERR_RANGE": -702, "SIM_KIN_ERR_CONFIGURATION": -703, "SIM_KIN_ERR_SINGULAR": -704, "SIM_KIN_ERR_UNKNOWN_TYPE": -705, "SIM_KIN_ERR_UNSUPPORTED": -706},
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"status": "verified" if not missing_exports else "blocked",
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}
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report["contract_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/kinematics-abi-contract.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"kinematics_abi={report['status']} functions={len(report['declared_functions'])} missing_exports={len(report['missing_required_exports'])}")
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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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