134 lines
5.6 KiB
Python
134 lines
5.6 KiB
Python
from __future__ import annotations
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import hashlib
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import json
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from pathlib import Path
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from fastapi import FastAPI
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from fastapi.testclient import TestClient
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from k1link.laboratory import LaboratoryEvidenceRegistry
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from k1link.laboratory.evidence_report import verify_laboratory_evidence_result
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from k1link.laboratory.vegetation_shadow_lab import seal_vegetation_shadow_lab
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from k1link.web.vegetation_shadow_lab_api import build_vegetation_shadow_lab_router
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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def _sha256(path: Path) -> str:
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return hashlib.sha256(path.read_bytes()).hexdigest()
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def _worker_result(root: Path, *, candidate: str, mode: str, vegetation_iou: float) -> None:
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root.mkdir(parents=True)
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visual_cases = []
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for index in range(12):
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case_id = f"case-{index:02d}"
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case_root = root / "cases" / case_id
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case_root.mkdir(parents=True)
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keys = ["source", "prediction_semantic", "policy_urban", "policy_rural", "policy_offroad"]
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if mode == "goose":
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keys.append("truth_semantic")
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files = {}
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for key in keys:
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path = case_root / f"{key}.png"
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path.write_bytes(b"\x89PNG\r\n\x1a\n" + f"{candidate}:{mode}:{case_id}:{key}".encode())
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files[key] = {
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"relative_path": path.relative_to(root).as_posix(),
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"sha256": _sha256(path),
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}
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visual_cases.append(
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{
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"case_id": case_id,
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"source_width": 800 if mode == "ravnoves" else 512,
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"source_height": 600 if mode == "ravnoves" else 512,
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"center_crop_xyxy": [100, 0, 700, 600] if mode == "ravnoves" else [0, 0, 512, 512],
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"outside_crop_state": "undefined" if mode == "ravnoves" else "not-applicable",
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"files": files,
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}
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)
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payload = {
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"schema_version": "missioncore.lab-v1-goose-vegetation-run/v1",
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"result_id": f"lab-v1-{mode}-{candidate}-fixture",
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"mode": mode,
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"candidate": {
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"candidate_key": candidate,
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"loaded_model_name": "ddrnet_39" if candidate == "ddrnet" else "pp_lite_t_seg",
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"checkpoint_sha256": ("a" if candidate == "ddrnet" else "b") * 64,
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},
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"metrics": {
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"mean_iou_percent": 44.0 + vegetation_iou,
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"published_mean_iou_percent": 46.53 if candidate == "ddrnet" else 45.09,
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"vegetation_mean_iou": vegetation_iou,
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},
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"timing": {
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"latency_ms_p95": 20.0 if candidate == "ddrnet" else 15.0,
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"throughput_fps_from_mean_inference": 55.0,
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},
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"resource": {
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"peak_reserved_vram_bytes": 2_000_000_000,
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"gpu_name": "fixture RTX 4090",
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},
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"visual_cases": visual_cases,
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"authority": {
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"navigation_accepted": False,
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"safety_accepted": False,
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"actuation_accepted": False,
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"camera_semantics_can_clear_rigid_geometry": False,
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},
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}
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(root / "result.json").write_text(json.dumps(payload), encoding="utf-8")
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def test_vegetation_shadow_lab_seals_autonomous_visual_evidence(tmp_path: Path) -> None:
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roots = {}
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for candidate, vegetation_iou in (("ddrnet", 0.64), ("ppliteseg", 0.61)):
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for mode in ("goose", "ravnoves"):
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root = tmp_path / "worker" / f"{candidate}-{mode}"
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_worker_result(root, candidate=candidate, mode=mode, vegetation_iou=vegetation_iou)
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roots[(candidate, mode)] = root
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result_root = seal_vegetation_shadow_lab(
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ddrnet_goose_root=roots[("ddrnet", "goose")],
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ppliteseg_goose_root=roots[("ppliteseg", "goose")],
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ddrnet_ravnoves_root=roots[("ddrnet", "ravnoves")],
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ppliteseg_ravnoves_root=roots[("ppliteseg", "ravnoves")],
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output_root=tmp_path / "results",
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)
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manifest = json.loads((result_root / "result.json").read_text("utf-8"))
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assert manifest["decision"]["selected_candidate"] == "ddrnet"
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assert manifest["ground_truth"] is False
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assert manifest["authority"]["commands_enabled"] is False
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assert manifest["authority"]["navigation_or_safety_accepted"] is False
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assert len(manifest["catalogs"]["ravnoves"]) == 12
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assert len(manifest["catalogs"]["goose"]) == 12
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assert len(manifest["artifacts"]) == 124
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assert "all_classes" not in manifest["metrics"]["candidates"]["ddrnet"]["validation_metrics"]
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assert (result_root / "result.json").stat().st_size <= 64 * 1024
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registry = LaboratoryEvidenceRegistry.from_directory(REPOSITORY_ROOT / "config/laboratories")
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definition = next(
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row for row in registry.definitions if row.work_id == "lab-v1-vegetation-shadow"
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)
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proof = verify_laboratory_evidence_result(definition, result_root)
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assert proof["result_id"] == result_root.name
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assert proof["artifact_count"] == 124
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app = FastAPI()
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app.include_router(build_vegetation_shadow_lab_router(root_provider=lambda: result_root.parent))
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client = TestClient(app)
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response = client.get(f"/api/v1/laboratory/vegetation-shadow/{result_root.name}")
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assert response.status_code == 200
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assert response.json()["access"] == "read-only"
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asset_path = manifest["catalogs"]["ravnoves"][0]["assets"]["offroad"]["path"]
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asset = client.get(
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f"/api/v1/laboratory/vegetation-shadow/{result_root.name}/assets/{asset_path}"
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)
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assert asset.status_code == 200
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assert asset.headers["cache-control"].endswith("immutable")
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(result_root / asset_path).write_bytes(b"tampered")
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assert (
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client.get(f"/api/v1/laboratory/vegetation-shadow/{result_root.name}").status_code
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== 503
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)
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