feat(lab): complete E30 evidence review gate

2026-07-27 11:00:32 +03:00
parent a44d7627fd
commit 001d597a89
55 changed files with 15897 additions and 1548 deletions
@@ -0,0 +1,171 @@
+from __future__ import annotations
+
+from dataclasses import replace
+
+import pytest
+
+from k1link.compute.lidar_contract import K1_LIVE_LIDAR_PROFILE
+from k1link.compute.sensor_representation import (
+    K1_LIO_PCL_CAPABILITIES,
+    SensorAlgorithmRequirements,
+    SensorCapability,
+    SensorRepresentationCapabilities,
+    SensorRepresentationContractError,
+    SensorRepresentationKind,
+    SensorSourceCurrentness,
+    assess_sensor_algorithm,
+    require_sensor_algorithm_admission,
+)
+
+
+def _projective_mapper_requirements() -> SensorAlgorithmRequirements:
+    return SensorAlgorithmRequirements(
+        algorithm_id="lidar-projective-mapper/v1",
+        accepted_representations=(SensorRepresentationKind.NATIVE_SENSOR_SCAN,),
+        required_capabilities=frozenset(
+            {
+                SensorCapability.METRIC_XYZ,
+                SensorCapability.NATIVE_RAY_MODEL,
+                SensorCapability.SENSOR_ORIGIN_PER_POINT,
+                SensorCapability.RAY_CLEARING_VALID,
+                SensorCapability.FREE_SPACE_EVIDENCE_VALID,
+            }
+        ),
+    )
+
+
+def test_k1_lio_pcl_capabilities_round_trip_without_free_space_or_authority() -> None:
+    document = K1_LIO_PCL_CAPABILITIES.to_dict()
+    restored = SensorRepresentationCapabilities.from_dict(document)
+
+    assert restored == K1_LIO_PCL_CAPABILITIES
+    assert restored.source_profile_id == K1_LIVE_LIDAR_PROFILE.profile_id
+    assert document["representation_kind"] == "registered-map-increment"
+    assert document["source_currentness"] == "frame-increment"
+    assert document["semantics"] == {
+        "absence_of_endpoints_means_free": False,
+        "unknown_remains_unknown": True,
+    }
+    assert document["authority"] == {
+        "compatibility_only": True,
+        "commands_enabled": False,
+        "navigation_or_safety_accepted": False,
+    }
+    assert not restored.supports(SensorCapability.NATIVE_RAY_MODEL)
+    assert not restored.supports(SensorCapability.RAY_CLEARING_VALID)
+    assert not restored.supports(SensorCapability.FREE_SPACE_EVIDENCE_VALID)
+
+
+def test_k1_lio_pcl_rejects_projective_free_space_mapper() -> None:
+    requirements = _projective_mapper_requirements()
+
+    admission = assess_sensor_algorithm(K1_LIO_PCL_CAPABILITIES, requirements)
+
+    assert admission.admitted is False
+    assert admission.reasons == (
+        "representation-not-accepted:registered-map-increment",
+        "missing-capability:free_space_evidence_valid",
+        "missing-capability:native_ray_model",
+        "missing-capability:ray_clearing_valid",
+        "missing-capability:sensor_origin_per_point",
+    )
+    with pytest.raises(
+        SensorRepresentationContractError,
+        match="lidar-projective-mapper/v1 rejected",
+    ):
+        require_sensor_algorithm_admission(K1_LIO_PCL_CAPABILITIES, requirements)
+
+
+def test_k1_lio_pcl_admits_endpoint_marking_without_granting_authority() -> None:
+    requirements = SensorAlgorithmRequirements(
+        algorithm_id="endpoint-occupied-marking/v1",
+        accepted_representations=(
+            SensorRepresentationKind.REGISTERED_MAP_INCREMENT,
+        ),
+        required_capabilities=frozenset(
+            {
+                SensorCapability.METRIC_XYZ,
+                SensorCapability.MAP_REGISTERED,
+            }
+        ),
+    )
+
+    admission = require_sensor_algorithm_admission(
+        K1_LIO_PCL_CAPABILITIES,
+        requirements,
+    )
+
+    assert admission.admitted is True
+    assert admission.reasons == ()
+    assert admission.to_dict()["authority"] == {
+        "compatibility_only": True,
+        "commands_enabled": False,
+        "navigation_or_safety_accepted": False,
+    }
+
+
+def test_complete_native_scan_admits_projective_mapper() -> None:
+    profile = SensorRepresentationCapabilities(
+        profile_id="synthetic-native-lidar-capabilities/v1",
+        source_profile_id="synthetic-native-lidar/v1",
+        representation_kind=SensorRepresentationKind.NATIVE_SENSOR_SCAN,
+        coordinate_frame="lidar",
+        source_currentness=SensorSourceCurrentness.CURRENT_OBSERVATION,
+        capabilities=frozenset(
+            {
+                SensorCapability.METRIC_XYZ,
+                SensorCapability.METRIC_INTENSITY,
+                SensorCapability.SENSOR_POSE_AVAILABLE,
+                SensorCapability.PER_POINT_TIME,
+                SensorCapability.RING_OR_CHANNEL,
+                SensorCapability.SEPARATE_IMU,
+                SensorCapability.SHARED_HARDWARE_CLOCK,
+                SensorCapability.NATIVE_RAY_MODEL,
+                SensorCapability.SENSOR_ORIGIN_PER_POINT,
+                SensorCapability.RAY_CLEARING_VALID,
+                SensorCapability.MOTION_COMPENSATION_VALID,
+                SensorCapability.FREE_SPACE_EVIDENCE_VALID,
+            }
+        ),
+    )
+
+    assert require_sensor_algorithm_admission(
+        profile,
+        _projective_mapper_requirements(),
+    ).admitted
+
+
+def test_contract_rejects_invented_free_space_and_authority() -> None:
+    with pytest.raises(
+        SensorRepresentationContractError,
+        match="free-space evidence requires admitted ray clearing",
+    ):
+        replace(
+            K1_LIO_PCL_CAPABILITIES,
+            capabilities=K1_LIO_PCL_CAPABILITIES.capabilities
+            | {SensorCapability.FREE_SPACE_EVIDENCE_VALID},
+        )
+
+    document = K1_LIO_PCL_CAPABILITIES.to_dict()
+    authority = document["authority"]
+    assert isinstance(authority, dict)
+    authority["navigation_or_safety_accepted"] = True
+    with pytest.raises(
+        SensorRepresentationContractError,
+        match="cannot grant authority",
+    ):
+        SensorRepresentationCapabilities.from_dict(document)
+
+
+def test_algorithm_requirements_are_strict_and_round_trip() -> None:
+    requirements = _projective_mapper_requirements()
+    restored = SensorAlgorithmRequirements.from_dict(requirements.to_dict())
+
+    assert restored == requirements
+    document = requirements.to_dict()
+    document["on_capability_mismatch"] = "degrade"
+    with pytest.raises(
+        SensorRepresentationContractError,
+        match="mismatch must reject",
+    ):
+        SensorAlgorithmRequirements.from_dict(document)