feat(rover): add drive profiles and leased remote command channel

tests/fleet/test_rover_control.py

@@ -0,0 +1,115 @@
+import pytest
+from k1link.fleet.rover_control import RoverControl
+
+@pytest.fixture
+def hub():
+    now=[10.]
+    h=RoverControl(lambda:now[0])
+    h.exchange('node',{'relay_id':'a'*32,'rover':{'supported':True,'instance':'driver','state':'observing'}})
+    return h,now
+
+def arm(h):
+    return h.arm('node',{'standstill_confirmed':True,'current_a':30,'max_erpm':2000})['session_id']
+
+def cmd(id,seq=1,**kw):
+    return {'session_id':id,'sequence':seq,'left':1,'right':1,'stop':False,**kw}
+
+def exchange(h,**kw):
+    return h.exchange('node',{'relay_id':'a'*32,'rover':{'supported':True,'instance':'driver',**kw}})
+
+def test_expired_browser_cannot_be_revived_by_late_packet(hub):
+    h,now=hub;id=arm(h);h.command('node',cmd(id));now[0]+=.401
+    assert exchange(h)['command'] is None
+    with pytest.raises(ValueError):h.command('node',cmd(id,2))
+
+def test_sequence_stop_and_single_owner(hub):
+    h,_=hub;id=arm(h)
+    with pytest.raises(ValueError):arm(h)
+    h.command('node',cmd(id,2))
+    with pytest.raises(ValueError):h.command('node',cmd(id,1))
+    assert exchange(h)['command']['sequence']==2
+    h.command('node',cmd(id,3,stop=True))
+    with pytest.raises(ValueError):h.command('node',cmd(id,4))
+    assert exchange(h)['command'] is None
+
+@pytest.mark.parametrize('snapshot',[{'state':'receiver'},{'state':'fault'},{'instance':'new-driver'}])
+def test_takeover_fault_or_driver_restart_revokes(hub,snapshot):
+    h,_=hub;id=arm(h)
+    assert exchange(h,session_id=id,**snapshot)['command'] is None
+
+def test_relay_restart_and_cross_board_do_not_inherit_authority(hub):
+    h,_=hub;id=arm(h)
+    with pytest.raises(ValueError):h.command('other',cmd(id))
+    assert h.exchange('node',{'relay_id':'b'*32,'rover':{}})['command'] is None
+
+@pytest.mark.parametrize('value',[True,float('nan'),float('inf'),1.01,-1.01,'1'])
+def test_invalid_demand_cannot_refresh(hub,value):
+    h,_=hub;id=arm(h)
+    with pytest.raises(ValueError):h.command('node',cmd(id,left=value))
+
+def test_stale_telemetry_is_unavailable_and_arm_requires_current_board(hub):
+    h,now=hub;now[0]+=1.1
+    assert h.view('node')['snapshot']=={}
+    with pytest.raises(ValueError):arm(h)
+
+def test_stream_keeps_absolute_deadline_and_never_renews_held_frame(hub):
+    h, now = hub
+    identifier = arm(h)
+    h.command('node', cmd(identifier, 1))
+    first = h.stream('node', 'a'*32)
+    now[0] += .2
+    repeated = h.stream('node', 'a'*32)
+    assert repeated['command'] == first['command']
+    assert repeated['control_clock']['monotonic_ms'] > first['control_clock']['monotonic_ms']
+    assert first['command']['expires_mono_ms'] == pytest.approx(10400)
+    now[0] += .201
+    assert h.stream('node', 'a'*32)['command'] is None
+    with pytest.raises(ValueError): h.command('node', cmd(identifier, 2))
+
+def test_stream_delivers_new_intent_without_waiting_for_telemetry(hub):
+    h, now = hub
+    identifier = arm(h)
+    h.command('node', cmd(identifier, 1))
+    h.command('node', cmd(identifier, 2, left=-1))
+    assert h.stream('node', 'a'*32)['command']['left'] == -1
+    assert h.stream('node', 'b'*32)['command'] is None
+    h.command('node', cmd(identifier, 3, stop=True))
+    assert h.stream('node', 'a'*32)['command'] is None
+
+def test_new_core_has_distinct_clock_epoch(hub):
+    h, _ = hub
+    assert h.stream('node', 'a'*32)['control_clock']['instance'] != RoverControl().clock_id
+
+def test_stream_retires_control_if_return_telemetry_is_lost(hub):
+    h, now = hub
+    identifier = arm(h)
+    for seq in range(1, 13):
+        h.command('node', cmd(identifier, seq))
+        now[0] += .09
+    assert h.stream('node', 'a'*32)['command'] is None
+    with pytest.raises(ValueError): h.command('node', cmd(identifier, 13))
+
+def test_intent_wait_wakes_on_update_and_does_not_miss_prior_update(hub):
+    import threading
+    from unittest.mock import patch
+    h, _ = hub
+    identifier = arm(h)
+    previous = h.stream('node', 'a'*32)['command']
+    entered, done = threading.Event(), threading.Event()
+    def waiter():
+        entered.set()
+        h.wait_for_intent('node', 'a'*32, previous, timeout=2)
+        done.set()
+    worker = threading.Thread(target=waiter)
+    worker.start()
+    assert entered.wait(1)
+    h.command('node', cmd(identifier, 1))
+    assert done.wait(.5), 'new intent waited for the periodic keepalive'
+    worker.join(2)
+    # A command arriving after socket write but before wait must not be lost.
+    with patch.object(h.changed, 'wait', side_effect=AssertionError('missed prior update')):
+        h.wait_for_intent('node', 'a'*32, previous, timeout=2)
+    latest = h.stream('node', 'a'*32)['command']
+    h.command('node', cmd(identifier, 2, stop=True))
+    with patch.object(h.changed, 'wait', side_effect=AssertionError('missed stop')):
+        h.wait_for_intent('node', 'a'*32, latest, timeout=2)