feat(perception): add TRAVEL RAVNOVES compatibility probe

tests/test_m49_t3_travel_ravnoves_probe.py

@@ -0,0 +1,88 @@
+from __future__ import annotations
+
+import hashlib
+import importlib.util
+import json
+import tarfile
+from pathlib import Path
+
+import numpy as np
+
+REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
+
+
+def _load(name: str, path: Path):
+    spec = importlib.util.spec_from_file_location(name, path)
+    assert spec is not None and spec.loader is not None
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+PREPARE = _load(
+    "m49_t3_prepare",
+    REPOSITORY_ROOT / "experiments/perception/worker/m49_t3_travel/prepare_ravnoves_probe.py",
+)
+ANALYZE = _load(
+    "m49_t3_analyze",
+    REPOSITORY_ROOT / "experiments/perception/worker/m49_t3_travel/analyze_ravnoves_probe.py",
+)
+BUILDER = _load(
+    "m49_t3_ravnoves_builder",
+    REPOSITORY_ROOT / "scripts/build_m49_t3_travel_ravnoves_worker_artifact.py",
+)
+
+
+def _sha256(value: bytes) -> str:
+    return hashlib.sha256(value).hexdigest()
+
+
+def test_map_points_are_transformed_into_current_lidar_frame() -> None:
+    points = np.asarray([[2.0, 4.0, 6.0], [3.0, 6.0, 9.0]], dtype=np.float32)
+    result = PREPARE.points_in_current_lidar_frame(
+        points,
+        np.asarray([1.0, 2.0, 3.0], dtype=np.float64),
+        np.asarray([0.0, 0.0, 0.0, 1.0], dtype=np.float64),
+    )
+    assert np.array_equal(result, np.asarray([[1.0, 2.0, 3.0], [2.0, 4.0, 6.0]]))
+
+
+def test_multiset_jaccard_ignores_order_but_not_membership() -> None:
+    left = np.asarray([[1, 2, 3, 0], [4, 5, 6, 0], [4, 5, 6, 0]], dtype=np.float32)
+    reversed_points = left[::-1]
+    changed = left.copy()
+    changed[0, 0] = 99
+    assert ANALYZE.multiset_jaccard(left, reversed_points) == 1.0
+    assert ANALYZE.multiset_jaccard(left, changed) < 1.0
+
+
+def test_probe_worker_artifact_is_deterministic_and_bounded(tmp_path: Path) -> None:
+    patch_id = "mission-core-m49-t3-ravnoves-unit-001"
+    revision = "a" * 40
+    first = BUILDER.build(patch_id, tmp_path / "first", revision=revision)
+    second = BUILDER.build(patch_id, tmp_path / "second", revision=revision)
+    first_bytes = Path(first["artifact"]).read_bytes()
+    assert first_bytes == Path(second["artifact"]).read_bytes()
+    assert first["sha256"] == _sha256(first_bytes)
+    with tarfile.open(first["artifact"], "r:gz") as archive:
+        members = archive.getmembers()
+        regular = {
+            member.name: archive.extractfile(member).read()  # type: ignore[union-attr]
+            for member in members
+            if member.isfile()
+        }
+    assert all(not member.issym() and not member.islnk() for member in members)
+    assert set(regular) == {
+        "manifest.env",
+        "files.txt",
+        *(f"payload/{name}" for name in first["payload_files"]),
+    }
+    release = json.loads(regular["payload/release.json"])
+    assert release["code_revision"] == revision
+    assert release["candidate_id"] == "travel"
+    assert release["authority"] == {
+        "navigation_or_actuation_allowed": False,
+        "ravnoves00_visual_quality_accepted": False,
+        "realtime_accepted": False,
+    }
+    assert "--gpus" not in regular["payload/Invoke-M49T3TravelRavnovesProbe.ps1"].decode()