DCCONSTRUCTIONS
e515ab1b8c
Preserve the completed teach-and-repeat laboratory stage: reference preparation, cascaded acquisition, local tracking and recovery, recording lifecycle, replay qualification, and persistent Rerun scene controls. Document the open grid-picking regression and Rerun upgrade contract. No autonomous driving or loop-closure optimization is claimed.
65 lines
2.4 KiB
Python
65 lines
2.4 KiB
Python
"""The archive fault adapter omits receipts without changing surviving clocks."""
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import importlib.util
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from pathlib import Path
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from types import SimpleNamespace
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import pytest
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def adapter_module():
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path = Path(__file__).resolve().parents[1] / "scripts/planning_archive_source.py"
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spec = importlib.util.spec_from_file_location("archive_fault_probe", path)
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module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(module)
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return module
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def test_fault_preserves_survivor_identity_payload_and_receipt_offsets(monkeypatch):
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module = adapter_module()
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original = [
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SimpleNamespace(
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received_monotonic_ns=int((100 + t) * 1e9),
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received_at_epoch_ns=int((1000 + t) * 1e9),
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topic="fixture/lio_pcl" if i % 2 else "fixture/lio_pose",
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sequence=i + 1,
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payload=bytes([i]),
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)
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for i, t in enumerate([0, 1, 2, 3, 3.9, 4, 5])
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]
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monkeypatch.setattr(module, "iter_replay_messages", lambda _: iter(original))
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clock = [int(500e9)]
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def wait(delay):
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clock[0] += int(delay * 1e9)
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return False
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monkeypatch.setattr(module, "time", SimpleNamespace(monotonic_ns=lambda: clock[0]))
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source = module.ReceiptQueueArchiveSource(Path("unused"), "B", 10, drop_interval_s=(2, 4))
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source.stop = SimpleNamespace(wait=wait)
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source.started = clock[0]
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published = []
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source.ingress = SimpleNamespace(
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publish=lambda **kw: published.append(kw) or True,
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end_session=lambda session: None,
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)
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source.publish()
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kept = [original[i] for i in [0, 1, 5, 6]]
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assert source.error is None
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assert [x["sequence"] for x in source.dropped_receipts] == [3, 4, 5]
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for out, entry in zip(published, kept, strict=True):
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assert out["source_sequence"] == entry.sequence
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assert out["payload"] is entry.payload
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assert out["captured_at_epoch_ns"] == entry.received_at_epoch_ns
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assert out["received_monotonic_ns"] == source.started + entry.received_monotonic_ns - int(
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100e9
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)
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@pytest.mark.parametrize("interval", [(2, 2), (4, 2), (0, 2), (1, 11), (1, float("nan"))])
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def test_invalid_fault_interval_is_rejected(interval):
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with pytest.raises(ValueError, match="fault interval"):
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adapter_module().ReceiptQueueArchiveSource(
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Path("unused"), "B", 10, drop_interval_s=interval
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)
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