92 lines
3.1 KiB
Python
92 lines
3.1 KiB
Python
from __future__ import annotations
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import hashlib
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import importlib.util
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import json
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import sys
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from pathlib import Path
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import pytest
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def _module(name: str, relative: str):
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path = Path(__file__).resolve().parents[1] / relative
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spec = importlib.util.spec_from_file_location(name, path)
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assert spec is not None and spec.loader is not None
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module = importlib.util.module_from_spec(spec)
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sys.modules[spec.name] = module
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spec.loader.exec_module(module)
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return module
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def test_camera_replay_loads_segments_lazily_and_checks_each_digest(tmp_path: Path) -> None:
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module = _module(
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"e21_source_replay_test",
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"experiments/perception/run_e12_shadow_transport_replay.py",
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)
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epoch = tmp_path / "epoch-1"
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segments = epoch / "segments"
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segments.mkdir(parents=True)
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(epoch / "init.mp4").write_bytes(b"init")
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rows = []
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for sequence, payload in ((1, b"one"), (2, b"two")):
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path = segments / f"{sequence}.m4s"
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path.write_bytes(payload)
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rows.append(
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{
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"host_epoch_ns": sequence * 100_000_000,
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"host_monotonic_ns": sequence * 100_000_000,
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"length": len(payload),
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"path": f"segments/{sequence}.m4s",
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"sequence": sequence,
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"sha256": hashlib.sha256(payload).hexdigest(),
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}
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)
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(epoch / "index.jsonl").write_text(
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"".join(json.dumps(row) + "\n" for row in rows),
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encoding="utf-8",
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)
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events = module._camera_events(epoch, 1.0)
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assert next(events).modality == "camera-init"
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assert next(events).payload == b"one"
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(segments / "2.m4s").write_bytes(b"changed-after-generator-start")
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with pytest.raises(RuntimeError, match="length differs"):
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next(events)
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def test_e21_trend_reports_accumulating_age_and_stable_memory() -> None:
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module = _module(
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"e21_analyzer_test",
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"experiments/perception/analyze_e21_realtime_envelope.py",
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)
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growing = module._trend([(float(index), float(index) * 2) for index in range(20)])
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stable = module._trend([(float(index), 100.0) for index in range(20)])
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assert growing["slope_per_second"] == pytest.approx(2.0)
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assert growing["late_vs_early_p95"] > 0
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assert stable["slope_per_second"] == pytest.approx(0.0)
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assert stable["late_vs_early_p95"] == pytest.approx(0.0)
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def test_e21_profile_keeps_diagnostic_authority_and_long_1x_gate() -> None:
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root = Path(__file__).resolve().parents[1]
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profile = json.loads(
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(
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root
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/ "experiments"
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/ "perception"
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/ "e21_realtime_envelope_profile.json"
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).read_text()
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)
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assert profile["source"]["speed"] == 1.0
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assert profile["source"]["minimum_span_seconds"] >= 55.0
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assert profile["worker"]["minimum_detector_fps"] >= 9.5
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assert profile["worker"]["maximum_detector_drop_fraction"] <= 0.02
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assert profile["worker"]["maximum_p95_world_state_age_ms"] == 200.0
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assert profile["authority"] == {
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"commands_enabled": False,
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"navigation_or_safety_accepted": False,
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}
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