feat: finalize corrected-route planning and Rerun recording review
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DCCONSTRUCTIONS
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import hashlib
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import json
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import numpy as np
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import pytest
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import rerun as rr
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from rerun.experimental import RrdReader
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from k1link.sessions.overview_comparison import load_comparison, publish_comparison
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from k1link.sessions.overview_spatial import render_spatial_update, spatial_metadata
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@pytest.fixture
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def pair(tmp_path):
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root = tmp_path / "previews"
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inputs = dict(
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session_id="recording",
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overview_generation="a" * 64,
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source_digests={"raw": "b" * 64},
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map_generation="c" * 64,
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source_points=30,
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original_path_m=12.0,
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corrected_path_m=11.9,
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original=[[0, 0, 0], [1, 2, 3], [4, 5, 8]],
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corrected=[[0, 0, 0], [1, 2, 2], [4, 5, 7]],
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original_route=[[0, 0, 0], [4, 5, 8]],
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corrected_route=[[0, 0, 0], [4, 5, 7]],
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)
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generation = publish_comparison(root, **inputs)
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return root, generation, inputs
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def load(pair, **changes):
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root, generation, inputs = pair
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values = {k: inputs[k] for k in ("overview_generation", "session_id", "source_digests")}
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return load_comparison(root, **{**values, **changes}, generation=generation)
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def test_publication_is_source_bound_idempotent_and_not_a_new_session(pair):
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root, generation, inputs = pair
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assert publish_comparison(root, **inputs) == generation
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preview = load(pair)
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np.testing.assert_array_equal(preview.original, inputs["original"])
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assert preview.document["view_only"] is True
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assert sorted(p.name for p in root.iterdir()) == [generation, "selected"]
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assert (
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load_comparison(
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root, inputs["overview_generation"], "recording", inputs["source_digests"]
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).generation
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== generation
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)
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assert load_comparison(root, "d" * 64, "recording", inputs["source_digests"]) is None
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@pytest.mark.parametrize(
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"changes",
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[
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dict(session_id="other"),
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dict(overview_generation="d" * 64),
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dict(source_digests={"raw": "e" * 64}),
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],
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)
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def test_does_not_cross_source_boundaries(pair, changes):
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with pytest.raises(ValueError, match="another recording"):
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load(pair, **changes)
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@pytest.mark.parametrize("filename", ["manifest.json", "geometry.npz"])
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def test_corrupt_artifacts_fail_closed(pair, filename):
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root, generation, _ = pair
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path = root / generation / filename
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path.write_bytes(path.read_bytes() + b"X")
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with pytest.raises(ValueError, match="changed"):
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load(pair)
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def test_geometry_rejects_non_finite_or_mismatched_pairs(pair):
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root, _, inputs = pair
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with pytest.raises(ValueError, match="geometry"):
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publish_comparison(root, **{**inputs, "corrected": [[float("nan"), 0, 0]]})
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def test_path_traversal_and_symlinks_are_rejected(pair):
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root, generation, inputs = pair
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with pytest.raises(ValueError, match="identity"):
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load_comparison(
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root, inputs["overview_generation"], "recording", inputs["source_digests"], "../source"
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)
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path = root / generation / "geometry.npz"
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path.rename(path.with_suffix(".original"))
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path.symlink_to(path.with_suffix(".original"))
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with pytest.raises(ValueError, match="artifact"):
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load(pair)
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def test_switch_replaces_cloud_route_endpoints_without_camera_blueprint(pair, tmp_path):
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preview = load(pair)
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original = tmp_path / "scene.rrd"
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recording = rr.RecordingStream("overview-test")
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recording.save(original)
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recording.log("world/cloud", rr.Points3D(preview.original, colors=[30, 40, 50]), static=True)
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recording.flush()
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recording.disconnect()
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digest = hashlib.sha256(original.read_bytes()).hexdigest()
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metadata = spatial_metadata(original, preview)
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assert metadata["comparison"]["height_max_m"] == 80
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assert metadata["comparison"]["source_points"] == 30
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colors = []
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for representation in ("original", "corrected", "original"):
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data, count, eye = render_spatial_update(
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original, None, None, comparison=preview, representation=representation
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)
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assert count == 3 and eye is None
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path = tmp_path / f"{representation}.rrd"
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path.write_bytes(data)
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reader = RrdReader(path)
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assert len(reader.recordings()) == 1
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assert (
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reader.recordings()[0].recording_id == RrdReader(original).recordings()[0].recording_id
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)
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chunks = {c.entity_path: c.to_record_batch() for c in reader.stream()}
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assert set(chunks) == {"/world/cloud", "/world/route", "/world/endpoints"}
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points = (
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chunks["/world/cloud"]
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.column("Points3D:positions")[0]
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.values.values.to_numpy()
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.reshape(-1, 3)
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)
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expected = getattr(preview, representation)
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np.testing.assert_array_equal(points, expected)
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endpoints = (
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chunks["/world/endpoints"]
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.column("Points3D:positions")[0]
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.values.values.to_numpy()
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.reshape(-1, 3)
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)
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np.testing.assert_array_equal(
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endpoints, getattr(preview, representation + "_route")[[0, -1]]
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)
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colors.append(chunks["/world/cloud"].column("Points3D:colors")[0].values.to_numpy())
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np.testing.assert_array_equal(colors[0], colors[1])
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assert hashlib.sha256(original.read_bytes()).hexdigest() == digest
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assert (
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render_spatial_update(original, 2.5, None, comparison=preview, representation="corrected")[
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1
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]
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== 2
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)
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assert (
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render_spatial_update(original, 2.5, None, comparison=preview, representation="original")[1]
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== 1
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)
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eyes = [
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render_spatial_update(original, None, "top", comparison=preview, representation=x)[2]
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for x in ("original", "corrected")
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]
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assert eyes[0] == eyes[1]
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with pytest.raises(ValueError, match="requires a pinned"):
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render_spatial_update(original, None, None, representation="corrected")
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def test_pinned_comparison_does_not_follow_new_selection(pair):
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root, generation, inputs = pair
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newer = publish_comparison(root, **{**inputs, "corrected": [[0, 0, 0], [1, 2, 1], [4, 5, 6]]})
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assert generation != newer
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assert load(pair).generation == generation
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assert (
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json.loads((root / "selected" / (inputs["overview_generation"] + ".json")).read_text())[
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"generation"
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]
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== newer
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)
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def test_http_requires_pinned_version_and_never_falls_back_to_original(pair, tmp_path):
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from types import SimpleNamespace
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from fastapi import FastAPI
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from fastapi.testclient import TestClient
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from k1link.web.session_overview_api import build_session_overview_router
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path = tmp_path / "scene.rrd"
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recording = rr.RecordingStream("http-overview-test")
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recording.save(path)
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recording.log("world/cloud", rr.Points3D([[0, 0, 0]], colors=[10, 20, 30]), static=True)
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recording.flush()
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recording.disconnect()
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root, generation, inputs = pair
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def scene(session, overview):
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if session != "recording" or overview != inputs["overview_generation"]:
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raise ValueError("source changed")
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return path
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def comparison(session, overview, pinned=None):
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scene(session, overview)
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return load_comparison(root, overview, session, inputs["source_digests"], pinned)
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app = FastAPI()
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app.include_router(
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build_session_overview_router(SimpleNamespace(scene=scene, comparison=comparison,
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default_representation=lambda *_: "original"))
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)
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with TestClient(app) as client:
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url = "/api/v1/observation-sessions/recording/overview/spatial"
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response = client.get(url, params={"generation": inputs["overview_generation"]})
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assert response.status_code == 200
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assert response.json()["comparison"]["generation"] == generation
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request = dict(generation=inputs["overview_generation"], representation="corrected")
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assert client.post(url, json=request).status_code == 409
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assert (
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client.post(url, json={**request, "comparison_generation": "f" * 64}).status_code == 409
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)
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assert (
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client.post(url, json={**request, "comparison_generation": "../source"}).status_code
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== 422
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)
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response = client.post(url, json={**request, "comparison_generation": generation})
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assert response.status_code == 200
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assert "X-Overview-Eye" not in response.headers
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assert response.headers["X-Overview-Visible-Points"] == "3"
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