NODEDC_MISSION_CORE/tests/test_reference_graph_parity.py

from __future__ import annotations

import json
from pathlib import Path

from k1link.perception.contracts import LocalObstacleMap, SourceAccounting, ThreatAssessment
from k1link.perception.graph_contracts import (
    REFERENCE_GRAPH_ID_V2,
    DeliveredFrame,
    GraphRunMode,
    GraphState,
    TerminalOutcome,
    TerminalOutcomeType,
    build_graph_run_result_v2,
)
from k1link.perception.reference_graph_parity import (
    compare_reference_graph_to_accepted_ledgers,
)


def _result(threats: tuple[ThreatAssessment, ...] = ()):
    obstacle_map = LocalObstacleMap(
        source_id="RAVNOVES00",
        session_id="20260720T065719Z_viewer_live",
        frame_id="frame-000000",
        graph_id=REFERENCE_GRAPH_ID_V2,
        generated_monotonic_ns=1,
        output_age_ns=0,
        occupied=(),
        unknown=(),
        camera_uncertainty=(),
        accounting=SourceAccounting(1, 1, 0, 0),
    )
    return build_graph_run_result_v2(
        graph_id=REFERENCE_GRAPH_ID_V2,
        source_profile_id="m4-ravnoves00-recorded-realtime/v1",
        run_mode=GraphRunMode.LOSSLESS_REPLAY,
        state=GraphState.STOPPED,
        admitted_count=1,
        outcomes=(
            TerminalOutcome(
                source_id="RAVNOVES00",
                session_id="20260720T065719Z_viewer_live",
                frame_id="frame-000000",
                sequence=0,
                outcome=TerminalOutcomeType.DELIVERED,
                stage_id="threat",
                reason="object-payload-delivered",
            ),
        ),
        deliveries=(DeliveredFrame(0, obstacle_map, threats),),
        queue_high_watermarks=(("detector", 1),),
    )


def _write_ledgers(root: Path, *, threat_assessments: list[dict[str, object]]) -> tuple[Path, Path]:
    temporal = root / "temporal.jsonl"
    threat = root / "threat.jsonl"
    temporal.write_text(
        json.dumps(
            {
                "sequence": 0,
                "frame_id": "frame-000000",
                "current": [],
                "rolling_retained": [],
                "held": [],
                "expired": [],
            }
        )
        + "\n",
        "utf-8",
    )
    threat.write_text(
        json.dumps(
            {
                "sequence": 0,
                "frame_id": "frame-000000",
                "camera_proposals": [],
                "assessments": threat_assessments,
            }
        )
        + "\n",
        "utf-8",
    )
    return temporal, threat


def test_reference_graph_parity_accepts_exact_frame_semantics(tmp_path: Path) -> None:
    temporal, threat = _write_ledgers(tmp_path, threat_assessments=[])

    report = compare_reference_graph_to_accepted_ledgers(
        _result(),
        temporal_frames_path=temporal,
        threat_frames_path=threat,
        expected_frames=1,
    )

    assert report.accepted is True
    assert dict(report.mismatch_counts) == {
        "camera_uncertainty": 0,
        "current": 0,
        "expired": 0,
        "held": 0,
        "rolling_retained": 0,
        "source_binding": 0,
        "threat_assessments": 0,
    }


def test_reference_graph_parity_reports_threat_drift(tmp_path: Path) -> None:
    temporal, threat = _write_ledgers(tmp_path, threat_assessments=[{"component_id": "x"}])

    report = compare_reference_graph_to_accepted_ledgers(
        _result(),
        temporal_frames_path=temporal,
        threat_frames_path=threat,
        expected_frames=1,
    )

    assert report.accepted is False
    assert dict(report.mismatch_counts)["threat_assessments"] == 1


def test_reference_graph_parity_treats_assessment_order_as_nonsemantic(
    tmp_path: Path,
) -> None:
    first = {
        "schema_version": "missioncore.threat-assessment/v1",
        "assessment_id": "threat-first",
        "component_id": "component-first",
        "rig_profile_id": "rig-test",
        "corridor_profile_id": "corridor-test",
        "qualification": "unqualified",
        "relative_speed_mps": None,
        "closest_approach_m": None,
        "ttc_seconds": None,
        "corridor_intersection": "unknown",
        "decision": "unknown",
        "reason_codes": ["test-unavailable"],
        "authority": "replay-simulated",
        "physical_collision_accepted": False,
        "actuation_allowed": False,
    }
    second = {
        **first,
        "assessment_id": "threat-second",
        "component_id": "component-second",
    }
    temporal, threat = _write_ledgers(
        tmp_path,
        threat_assessments=[second, first],
    )

    report = compare_reference_graph_to_accepted_ledgers(
        _result((ThreatAssessment.from_dict(first), ThreatAssessment.from_dict(second))),
        temporal_frames_path=temporal,
        threat_frames_path=threat,
        expected_frames=1,
    )

    assert report.accepted is True