116 lines
4.7 KiB
Python
116 lines
4.7 KiB
Python
import pytest
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from k1link.fleet.rover_control import RoverControl
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@pytest.fixture
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def hub():
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now=[10.]
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h=RoverControl(lambda:now[0])
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h.exchange('node',{'relay_id':'a'*32,'rover':{'supported':True,'instance':'driver','state':'observing'}})
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return h,now
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def arm(h):
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return h.arm('node',{'standstill_confirmed':True,'current_a':30,'max_erpm':2000})['session_id']
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def cmd(id,seq=1,**kw):
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return {'session_id':id,'sequence':seq,'left':1,'right':1,'stop':False,**kw}
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def exchange(h,**kw):
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return h.exchange('node',{'relay_id':'a'*32,'rover':{'supported':True,'instance':'driver',**kw}})
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def test_expired_browser_cannot_be_revived_by_late_packet(hub):
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h,now=hub;id=arm(h);h.command('node',cmd(id));now[0]+=.401
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assert exchange(h)['command'] is None
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with pytest.raises(ValueError):h.command('node',cmd(id,2))
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def test_sequence_stop_and_single_owner(hub):
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h,_=hub;id=arm(h)
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with pytest.raises(ValueError):arm(h)
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h.command('node',cmd(id,2))
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with pytest.raises(ValueError):h.command('node',cmd(id,1))
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assert exchange(h)['command']['sequence']==2
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h.command('node',cmd(id,3,stop=True))
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with pytest.raises(ValueError):h.command('node',cmd(id,4))
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assert exchange(h)['command'] is None
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@pytest.mark.parametrize('snapshot',[{'state':'receiver'},{'state':'fault'},{'instance':'new-driver'}])
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def test_takeover_fault_or_driver_restart_revokes(hub,snapshot):
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h,_=hub;id=arm(h)
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assert exchange(h,session_id=id,**snapshot)['command'] is None
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def test_relay_restart_and_cross_board_do_not_inherit_authority(hub):
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h,_=hub;id=arm(h)
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with pytest.raises(ValueError):h.command('other',cmd(id))
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assert h.exchange('node',{'relay_id':'b'*32,'rover':{}})['command'] is None
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@pytest.mark.parametrize('value',[True,float('nan'),float('inf'),1.01,-1.01,'1'])
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def test_invalid_demand_cannot_refresh(hub,value):
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h,_=hub;id=arm(h)
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with pytest.raises(ValueError):h.command('node',cmd(id,left=value))
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def test_stale_telemetry_is_unavailable_and_arm_requires_current_board(hub):
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h,now=hub;now[0]+=1.1
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assert h.view('node')['snapshot']=={}
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with pytest.raises(ValueError):arm(h)
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def test_stream_keeps_absolute_deadline_and_never_renews_held_frame(hub):
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h, now = hub
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identifier = arm(h)
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h.command('node', cmd(identifier, 1))
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first = h.stream('node', 'a'*32)
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now[0] += .2
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repeated = h.stream('node', 'a'*32)
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assert repeated['command'] == first['command']
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assert repeated['control_clock']['monotonic_ms'] > first['control_clock']['monotonic_ms']
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assert first['command']['expires_mono_ms'] == pytest.approx(10400)
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now[0] += .201
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assert h.stream('node', 'a'*32)['command'] is None
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with pytest.raises(ValueError): h.command('node', cmd(identifier, 2))
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def test_stream_delivers_new_intent_without_waiting_for_telemetry(hub):
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h, now = hub
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identifier = arm(h)
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h.command('node', cmd(identifier, 1))
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h.command('node', cmd(identifier, 2, left=-1))
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assert h.stream('node', 'a'*32)['command']['left'] == -1
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assert h.stream('node', 'b'*32)['command'] is None
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h.command('node', cmd(identifier, 3, stop=True))
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assert h.stream('node', 'a'*32)['command'] is None
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def test_new_core_has_distinct_clock_epoch(hub):
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h, _ = hub
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assert h.stream('node', 'a'*32)['control_clock']['instance'] != RoverControl().clock_id
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def test_stream_retires_control_if_return_telemetry_is_lost(hub):
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h, now = hub
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identifier = arm(h)
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for seq in range(1, 13):
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h.command('node', cmd(identifier, seq))
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now[0] += .09
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assert h.stream('node', 'a'*32)['command'] is None
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with pytest.raises(ValueError): h.command('node', cmd(identifier, 13))
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def test_intent_wait_wakes_on_update_and_does_not_miss_prior_update(hub):
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import threading
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from unittest.mock import patch
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h, _ = hub
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identifier = arm(h)
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previous = h.stream('node', 'a'*32)['command']
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entered, done = threading.Event(), threading.Event()
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def waiter():
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entered.set()
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h.wait_for_intent('node', 'a'*32, previous, timeout=2)
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done.set()
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worker = threading.Thread(target=waiter)
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worker.start()
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assert entered.wait(1)
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h.command('node', cmd(identifier, 1))
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assert done.wait(.5), 'new intent waited for the periodic keepalive'
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worker.join(2)
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# A command arriving after socket write but before wait must not be lost.
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with patch.object(h.changed, 'wait', side_effect=AssertionError('missed prior update')):
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h.wait_for_intent('node', 'a'*32, previous, timeout=2)
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latest = h.stream('node', 'a'*32)['command']
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h.command('node', cmd(identifier, 2, stop=True))
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with patch.object(h.changed, 'wait', side_effect=AssertionError('missed stop')):
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h.wait_for_intent('node', 'a'*32, latest, timeout=2)
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