feat(simulation): add provider-neutral worker profile

2026-07-25 00:29:00 +03:00
parent 5abd07d2bf
commit 37c24b5fa8
21 changed files with 1275 additions and 121 deletions
@@ -0,0 +1,99 @@
+from __future__ import annotations
+
+from dataclasses import replace
+
+import pytest
+
+from k1link.simulation.contracts import ControlProfile
+from k1link.simulation.provider_contract import (
+    ProviderRole,
+    SimulationClockDescriptor,
+    SimulationProviderContractError,
+    SimulationProviderDescriptor,
+    SimulationProviderProfile,
+)
+from k1link.simulation.stock_rover import STOCK_ROVER_PROVIDER_PROFILE
+
+
+def _unreal_profile() -> SimulationProviderProfile:
+    return SimulationProviderProfile(
+        profile_id="unreal-native-rover-v1",
+        providers=(
+            SimulationProviderDescriptor(
+                provider_id="unreal-native",
+                roles=(
+                    ProviderRole.WORLD,
+                    ProviderRole.PHYSICS,
+                    ProviderRole.STATE,
+                    ProviderRole.SENSOR,
+                ),
+                capabilities=(
+                    "clock.simulation",
+                    "state.vehicle-pose",
+                    "truth.ground-truth",
+                    "sensor.virtual",
+                ),
+            ),
+            SimulationProviderDescriptor(
+                provider_id="unreal-direct-control",
+                roles=(ProviderRole.CONTROLLER,),
+                capabilities=("command.rover-speed-steering/v1",),
+            ),
+        ),
+        clock=SimulationClockDescriptor(
+            provider_id="unreal-native",
+            domain="unreal:fixed-step",
+        ),
+        control_profiles=(ControlProfile.ROVER_SPEED_STEERING_V1,),
+    )
+
+
+def test_stock_rover_provider_profile_round_trips_exactly() -> None:
+    restored = SimulationProviderProfile.from_dict(STOCK_ROVER_PROVIDER_PROFILE.to_dict())
+
+    assert restored == STOCK_ROVER_PROVIDER_PROFILE
+    assert restored.clock.domain == "gazebo:/clock"
+    assert any(ProviderRole.CONTROLLER in provider.roles for provider in restored.providers)
+
+
+def test_provider_contract_accepts_unreal_without_changing_canonical_frames() -> None:
+    profile = SimulationProviderProfile.from_dict(_unreal_profile().to_dict())
+
+    assert profile.clock.domain == "unreal:fixed-step"
+    assert profile.world_frame == "map_enu"
+    assert profile.body_frame == "base_link_flu"
+
+
+def test_provider_contract_rejects_missing_clock_capability() -> None:
+    profile = _unreal_profile()
+    world = profile.providers[0]
+
+    with pytest.raises(SimulationProviderContractError, match="clock.simulation"):
+        replace(
+            profile,
+            providers=(
+                replace(
+                    world,
+                    capabilities=tuple(
+                        capability
+                        for capability in world.capabilities
+                        if capability != "clock.simulation"
+                    ),
+                ),
+                profile.providers[1],
+            ),
+        )
+
+
+def test_provider_contract_rejects_undeclared_command_capability() -> None:
+    profile = _unreal_profile()
+    controller = profile.providers[1]
+
+    with pytest.raises(SimulationProviderContractError, match="control profiles"):
+        replace(
+            profile,
+            providers=(
+                profile.providers[0],
+                replace(controller, capabilities=("transport.custom",)),
+            ),
+        )