74 lines
4.8 KiB
Python
74 lines
4.8 KiB
Python
#!/usr/bin/env python3
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"""Generate deterministic evidence for TP -> IK -> motion integration."""
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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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"motion_header": "wasm-core/include/sim_motion_queue.h",
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"motion_source": "wasm-core/src/sim_motion_queue.c",
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"kinematics_motion_header": "wasm-core/include/sim_kinematics_motion.h",
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"kinematics_motion_source": "wasm-core/src/sim_kinematics_motion.c",
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"kinematics_header": "wasm-core/include/sim_kinematics.h",
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"kinematics_source": "wasm-core/src/sim_kinematics.c",
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"test": "wasm-core/tests/sim_kinematics_motion_test.c",
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"linuxcnc_control": "linuxcnc/src/emc/motion/control.c",
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"linuxcnc_motion": "linuxcnc/src/emc/motion/motion.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_json(command: list[str], root: Path) -> dict[str, object]:
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result = subprocess.run(command, cwd=root, check=False, text=True, capture_output=True)
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if result.returncode:
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raise RuntimeError(f"{command[0]} exited {result.returncode}: {result.stderr.strip()}")
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for line in result.stdout.splitlines():
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if line.lstrip().startswith("{"):
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item = json.loads(line)
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if item.get("schema") == "kinematics-motion-samples.v1":
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return item
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raise RuntimeError("runner did not emit kinematics-motion-samples.v1")
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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 = run_json([str(root / "build-native/sim_kinematics_motion_test")], root)
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wasm = run_json(["node", str(root / "build-wasm/sim_kinematics_motion_wasm_test.js")], root)
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report = {
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"schema": "kinematics-motion-report.v1",
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"status": "partial",
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"implementation_status": "verified",
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"source_records": {name: {"path": path, "sha256": sha256(root / path)} for name, path in INPUTS.items()},
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"pipeline": {"order": ["fixed_tick", "trajectory_planner", "kinematics_inverse", "atomic_joint_queue"], "joint_queue_capacity": 64, "planner_queue_capacity": 32, "transaction": "snapshot planner and kinematics; rollback on IK, planner, nonfinite, or capacity failure"},
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"configuration_candidates": [{"id": "trivkins-xyz-fixed-tick", "kind": "derived", "path": INPUTS["test"], "coordinates": "XYZ", "purpose": "deterministic TP to inverse to joint sample"}, {"id": "xyzbc-singular-rollback", "kind": "derived", "path": INPUTS["test"], "coordinates": "XYZBC", "purpose": "B=90 inverse failure leaves planner untouched"}],
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"boundaries": {"pause": native["nominal"]["pause_status"], "capacity": native["capacity"]["status"], "inverse_failure": native["inverse_failure"]["status"], "inverse_error": native["inverse_failure"]["kinematics_error"], "nonfinite": native["nonfinite_status"], "capacity_planner_rollback": native["capacity"]["planner_before"] == native["capacity"]["planner_after"], "inverse_planner_rollback": native["inverse_failure"]["planner_before"] == native["inverse_failure"]["planner_after"], "state_hash_stable": native["nominal"]["state_hash"] == native["nominal"]["repeat_hash"]},
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"samples": {"native": native, "wasm": wasm, "byte_identical_json": json.dumps(native, sort_keys=True, separators=(",", ":")) == json.dumps(wasm, sort_keys=True, separators=(",", ":")), "state_hash_identical": native["nominal"]["state_hash"] == wasm["nominal"]["state_hash"] and native["capacity"]["state_hash"] == wasm["capacity"]["state_hash"]},
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"native_wasm": {"status": "passed", "native_command": "build-native/sim_kinematics_motion_test", "wasm_command": "node build-wasm/sim_kinematics_motion_wasm_test.js"},
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"oracle": {"status": "blocked", "reason": "linuxcnc/unit_tests/kinematics is absent from the locked source", "blocked_samples": ["TP to IK fixed tick", "joint queue capacity", "pause/resume", "singular IK rollback", "nonfinite segment"]},
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}
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report["report_sha256"] = hashlib.sha256(json.dumps(report, sort_keys=True, separators=(",", ":")).encode()).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-motion.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"kinematics_motion={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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