Add D455 sensor host and shared Node/Core preparation surface

2026-09-05 22:27:07 +03:00
parent 3616acc648
commit b1aaa40508
41 changed files with 2293 additions and 19 deletions
@@ -299,3 +299,90 @@ def test_bootstrap_pin_is_verified_before_secret_is_sent(setup, monkeypatch, wro
            "ok": True
        }
        assert len(sent) == 1
+
+
+def sensor_inventory(row):
+    now = datetime.now(UTC).isoformat()
+    item = {
+        "id": "rsd455_01234567890123456789012345678901",
+        "name": "Test camera",
+        "snapshot": {
+            "context": {
+                "session_id": "sensor_test",
+                "device": {
+                    "device_id": "rsd455_01234567890123456789012345678901",
+                    "model": {
+                        "plugin_id": "missioncore.realsense",
+                        "plugin_version": "0.6.0",
+                        "model_id": "realsense.d455",
+                    },
+                    "stability": "stable",
+                    "basis": "hardware-identifier",
+                },
+                "execution": {
+                    "node_id": row["node_id"],
+                    "agent_instance_id": "driver_test",
+                    "platform": "linux",
+                },
+                "opened_at": now,
+            },
+            "revision": 0,
+            "enrollment": "empty",
+            "connectivity": "connected",
+            "acquisition": "idle",
+            "observed_at": now,
+        },
+    }
+    value = heartbeat(row)
+    value["devices"] = [item]
+    value["sensor_state"] = {"items": [item], "operations": [], "preparation": None}
+    return value
+
+
+def test_sensor_commands_require_pairing_and_keep_uncertain_outcome(setup):
+    from k1link.fleet import sensors
+
+    fleet, _, _, _ = setup
+    public, _ = create(setup)
+    row = setup[0].find(public["id"])
+    inventory = sensor_inventory(row)
+    fleet.receive(cert(row), "/v1/node/heartbeat", inventory)
+    now = datetime.now(UTC)
+    command = {
+        "api_version": "missioncore.nodedc/plugin-sdk/v0alpha2",
+        "kind": "OperationRequest",
+        "operation_id": "op_01234567890123456789012345678901",
+        "idempotency_key": "op_01234567890123456789012345678901",
+        "session": {"device_id": inventory["devices"][0]["id"], "session_id": "sensor_test"},
+        "requested_at": now.isoformat(),
+        "deadline_at": (now + timedelta(seconds=60)).isoformat(),
+        "action_id": "start",
+        "parameters": {"record": True},
+    }
+    first = sensors.submit(fleet, row["id"], command)
+    assert first["state"] == "queued"
+    assert sensors.submit(fleet, row["id"], command) == first
+    with pytest.raises(PairingError):
+        sensors.submit(fleet, row["id"], {**command, "action_id": "stop"})
+    _, response = fleet.receive(cert(row), "/v1/node/heartbeat", inventory)
+    assert response["sensor_commands"] == [command]
+    inventory["sensor_results"] = [
+        {"command": command, "state": "unknown", "error": "test uncertainty"}
+    ]
+    _, response = fleet.receive(cert(row), "/v1/node/heartbeat", inventory)
+    assert response["sensor_commands"] == []
+    assert sensors.operation(fleet, row["id"], command["operation_id"])["state"] == "unknown"
+    fleet.revoke(row["id"])
+    with pytest.raises(PairingError):
+        sensors.submit(fleet, row["id"], command)
+
+
+def test_sensor_cannot_claim_another_board_identity(setup):
+    from k1link.fleet.sensors import validate_inventory
+
+    public, _ = create(setup)
+    row = setup[0].find(public["id"])
+    value = sensor_inventory(row)
+    value["devices"][0]["snapshot"]["context"]["execution"]["node_id"] = "node_wrong"
+    with pytest.raises(ValueError):
+        validate_inventory(value, row["node_id"])