feat: wire physical K1 surface shadow

2026-07-26 01:30:53 +03:00
parent e6d5411bdd
commit a1e2cb523f
14 changed files with 1444 additions and 41 deletions
@@ -84,6 +84,138 @@ def test_e15_profile_rejects_command_authority(tmp_path: Path) -> None:
        module.read_live_profile(changed)


+def test_e28_profile_pins_physical_k1_local_surface_gate() -> None:
+    module = _module()
+    profile_path = (
+        Path(__file__).resolve().parents[1]
+        / "experiments"
+        / "perception"
+        / "worker"
+        / "e28_physical_k1_local_surface_profile.json"
+    )
+
+    profile, digest = module.read_live_profile(profile_path)
+
+    assert len(digest) == 64
+    assert profile["mode"] == "physical-shadow-gate"
+    assert profile["local_surface"] == {
+        "enabled": True,
+        "profile_id": "k1-vendor-map-dynamic-local-surface/v1",
+        "profile_sha256": (
+            "7a59edc8404d0177a39175578743589bfb6b7822837170cded38ca2b6698cc26"
+        ),
+        "point_queue_capacity": 2,
+        "pose_buffer_capacity": 16,
+        "future_pose_wait_ms": 25.0,
+        "retention_seconds": 3.0,
+        "result_capacity": 8,
+        "acceptance": {
+            "minimum_bound_frames": 100,
+            "maximum_pose_miss_fraction": 0.05,
+            "maximum_point_drop_fraction": 0.01,
+            "maximum_runtime_drop_fraction": 0.01,
+            "maximum_p95_result_age_ms": 80.0,
+        },
+    }
+    assert profile["authority"] == {
+        "commands_enabled": False,
+        "navigation_or_safety_accepted": False,
+    }
+
+
+def test_e28_profile_rejects_unpinned_local_surface(tmp_path: Path) -> None:
+    module = _module()
+    source = (
+        Path(__file__).resolve().parents[1]
+        / "experiments"
+        / "perception"
+        / "worker"
+        / "e28_physical_k1_local_surface_profile.json"
+    )
+    value = json.loads(source.read_text())
+    value["local_surface"]["profile_sha256"] = "0" * 64
+    changed = tmp_path / "unpinned-local-surface.json"
+    changed.write_text(json.dumps(value))
+
+    with pytest.raises(RuntimeError, match="E28 physical local-surface"):
+        module.read_live_profile(changed)
+
+
+def test_e28_local_surface_acceptance_requires_exact_bounded_accounting() -> None:
+    module = _module()
+    config = {
+        "profile_id": "k1-vendor-map-dynamic-local-surface/v1",
+        "point_queue_capacity": 2,
+        "pose_buffer_capacity": 16,
+        "acceptance": {
+            "minimum_bound_frames": 100,
+            "maximum_pose_miss_fraction": 0.05,
+            "maximum_point_drop_fraction": 0.01,
+            "maximum_runtime_drop_fraction": 0.01,
+            "maximum_p95_result_age_ms": 80.0,
+        },
+    }
+    authority = {
+        "commands_enabled": False,
+        "navigation_or_safety_accepted": False,
+    }
+    snapshot = {
+        "closed": True,
+        "authority": authority,
+        "binder": {
+            "points": {
+                "capacity": 2,
+                "depth": 0,
+                "maximum_depth": 2,
+                "published": 102,
+                "bound": 100,
+                "missed": 1,
+                "dropped_overflow": 1,
+            },
+            "poses": {
+                "capacity": 16,
+                "maximum_depth": 12,
+            },
+        },
+        "runtime": {
+            "closed": True,
+            "profile": {
+                "profile_id": "k1-vendor-map-dynamic-local-surface/v1",
+            },
+            "queue": {
+                "capacity": 2,
+                "depth": 0,
+                "maximum_depth": 2,
+                "published": 100,
+                "consumed": 100,
+                "dropped_overflow": 0,
+            },
+            "results": {
+                "published": 100,
+                "failed": 0,
+                "result_age_ms": {"p95": 40.0},
+            },
+            "occupancy_policy": {
+                "absence_of_points_means_free": False,
+                "unknown_is_traversable": False,
+            },
+            "authority": authority,
+        },
+    }
+
+    checks = module._local_surface_acceptance_checks(snapshot, config)
+
+    assert checks
+    assert all(checks.values())
+    snapshot["runtime"]["results"]["result_age_ms"]["p95"] = 90.0
+    assert (
+        module._local_surface_acceptance_checks(snapshot, config)[
+            "local_surface_maximum_p95_result_age_ms"
+        ]
+        is False
+    )
+
+
 def test_persistent_worker_request_is_single_run_d_backed_and_token_bounded(
    tmp_path: Path,
 ) -> None: