150 lines
4.9 KiB
Python
150 lines
4.9 KiB
Python
from __future__ import annotations
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import json
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from pathlib import Path
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import pytest
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from k1link.laboratory.vegetation_mission_policy import (
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VegetationMissionPolicyError,
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load_vegetation_mission_policy,
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resolve_terrain_policy,
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)
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REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
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POLICY_PATH = (
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REPOSITORY_ROOT / "config" / "perception" / "lab-v1-vegetation-mission-policy-v1.json"
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)
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CANDIDATE_MANIFEST_PATH = (
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REPOSITORY_ROOT
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/ "config"
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/ "perception"
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/ "lab-v1-vegetation-candidate-manifest-v1.json"
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)
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def _policy() -> dict[str, object]:
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return load_vegetation_mission_policy(POLICY_PATH, repository_root=REPOSITORY_ROOT)
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def test_presets_are_defaults_and_explicit_mission_rule_wins() -> None:
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policy = _policy()
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urban_default = resolve_terrain_policy(
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policy,
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preset_id="urban",
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material_class="grass",
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evidence_state="VEGETATION_POTENTIALLY_TRAVERSABLE",
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)
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assert urban_default.requested_action == "NO_GO"
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assert urban_default.effective_action == "NO_GO"
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assert urban_default.policy_source == "selected_preset_default"
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explicit_allow = resolve_terrain_policy(
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policy,
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preset_id="urban",
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material_class="grass",
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evidence_state="VEGETATION_POTENTIALLY_TRAVERSABLE",
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mission_rules={"grass": "ALLOW"},
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)
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assert explicit_allow.requested_action == "ALLOW"
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assert explicit_allow.effective_action == "ALLOW"
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assert explicit_allow.policy_source == "explicit_mission_rule"
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assert explicit_allow.actuation_authority is False
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def test_offroad_grass_is_high_cost_until_mission_changes_it() -> None:
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decision = resolve_terrain_policy(
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_policy(),
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preset_id="offroad",
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material_class="grass",
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evidence_state="VEGETATION_POTENTIALLY_TRAVERSABLE",
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)
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assert decision.requested_action == "HIGH_COST"
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assert decision.effective_action == "HIGH_COST"
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assert decision.safety_reason is None
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@pytest.mark.parametrize(
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"state",
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[
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"UNOBSERVED",
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"NEGATIVE_OR_UNSUPPORTED",
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"RIGID_OR_UNKNOWN_OBSTACLE",
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"VEGETATION_UNKNOWN",
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"VEGETATION_WITH_RIGID_GEOMETRY",
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],
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)
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def test_mission_allow_never_clears_hard_safety_interlock(state: str) -> None:
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decision = resolve_terrain_policy(
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_policy(),
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preset_id="offroad",
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material_class="grass",
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evidence_state=state,
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mission_rules={"grass": "ALLOW"},
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)
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assert decision.requested_action == "ALLOW"
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assert decision.effective_action == "NO_GO"
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assert decision.safety_reason == f"hard_safety_interlock:{state}"
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def test_missing_semantics_and_support_fail_closed() -> None:
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decision = resolve_terrain_policy(
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_policy(),
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preset_id="rural",
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material_class=None,
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evidence_state=None,
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)
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assert decision.material_class == "vegetation_unknown"
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assert decision.evidence_state == "UNOBSERVED"
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assert decision.effective_action == "NO_GO"
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def test_woody_material_cannot_be_enabled_by_mission() -> None:
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with pytest.raises(
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VegetationMissionPolicyError,
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match="material cannot be overridden by a mission: tree_or_trunk",
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):
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resolve_terrain_policy(
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_policy(),
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preset_id="offroad",
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material_class="tree_or_trunk",
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evidence_state="SUPPORTED_GROUND",
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mission_rules={"tree_or_trunk": "ALLOW"},
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)
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def test_unknown_material_is_treated_as_unknown_vegetation() -> None:
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decision = resolve_terrain_policy(
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_policy(),
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preset_id="offroad",
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material_class="provider_specific_leaf",
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evidence_state="SUPPORTED_GROUND",
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)
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assert decision.material_class == "vegetation_unknown"
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assert decision.effective_action == "NO_GO"
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assert decision.safety_reason == "hard_safety_interlock:vegetation_unknown"
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def test_candidate_manifest_freezes_unique_assets_sources_and_no_authority() -> None:
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manifest = json.loads(CANDIDATE_MANIFEST_PATH.read_text(encoding="utf-8"))
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assert manifest["schema_version"] == "missioncore.vegetation-candidate-manifest/v1"
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assert manifest["worker"]["canonical_runtime_mutation_allowed"] is False
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sources = manifest["upstream_sources"]
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assert {source["source_id"] for source in sources} == {
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"wildscenes",
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"rellis-3d",
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"orfd-offnet",
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}
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assert all(len(source["revision"]) == 40 for source in sources)
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candidates = manifest["candidate_assets"]
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candidate_ids = [candidate["candidate_id"] for candidate in candidates]
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assert len(candidate_ids) == len(set(candidate_ids)) == 10
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assert all(candidate["size_bytes"] > 0 for candidate in candidates)
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assert all(len(candidate["sha256"]) == 64 for candidate in candidates)
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assert manifest["invariants"]["missing_or_unknown_is_free"] is False
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assert manifest["invariants"]["navigation_authority"] is False
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assert manifest["invariants"]["actuation_authority"] is False
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