NODEDC_MISSION_CORE/tests/test_vegetation_mission_policy.py

from __future__ import annotations

import json
from pathlib import Path

import pytest

from k1link.laboratory.vegetation_mission_policy import (
    VegetationMissionPolicyError,
    load_vegetation_mission_policy,
    load_vegetation_provider_label_map,
    map_provider_material,
    resolve_terrain_policy,
)

REPOSITORY_ROOT = Path(__file__).resolve().parents[1]
POLICY_PATH = (
    REPOSITORY_ROOT / "config" / "perception" / "lab-v1-vegetation-mission-policy-v1.json"
)
CANDIDATE_MANIFEST_PATH = (
    REPOSITORY_ROOT
    / "config"
    / "perception"
    / "lab-v1-vegetation-candidate-manifest-v1.json"
)
PROVIDER_LABEL_MAP_PATH = (
    REPOSITORY_ROOT
    / "config"
    / "perception"
    / "lab-v1-vegetation-provider-label-map-v1.json"
)


def _policy() -> dict[str, object]:
    return load_vegetation_mission_policy(POLICY_PATH, repository_root=REPOSITORY_ROOT)


def _provider_label_map() -> dict[str, object]:
    policy = _policy()
    return load_vegetation_provider_label_map(PROVIDER_LABEL_MAP_PATH, policy=policy)


def test_presets_are_defaults_and_explicit_mission_rule_wins() -> None:
    policy = _policy()

    urban_default = resolve_terrain_policy(
        policy,
        preset_id="urban",
        material_class="grass",
        evidence_state="VEGETATION_POTENTIALLY_TRAVERSABLE",
    )
    assert urban_default.requested_action == "NO_GO"
    assert urban_default.effective_action == "NO_GO"
    assert urban_default.policy_source == "selected_preset_default"

    explicit_allow = resolve_terrain_policy(
        policy,
        preset_id="urban",
        material_class="grass",
        evidence_state="VEGETATION_POTENTIALLY_TRAVERSABLE",
        mission_rules={"grass": "ALLOW"},
    )
    assert explicit_allow.requested_action == "ALLOW"
    assert explicit_allow.effective_action == "ALLOW"
    assert explicit_allow.policy_source == "explicit_mission_rule"
    assert explicit_allow.actuation_authority is False


def test_offroad_grass_is_high_cost_until_mission_changes_it() -> None:
    decision = resolve_terrain_policy(
        _policy(),
        preset_id="offroad",
        material_class="grass",
        evidence_state="VEGETATION_POTENTIALLY_TRAVERSABLE",
    )
    assert decision.requested_action == "HIGH_COST"
    assert decision.effective_action == "HIGH_COST"
    assert decision.safety_reason is None


@pytest.mark.parametrize(
    "state",
    [
        "UNOBSERVED",
        "NEGATIVE_OR_UNSUPPORTED",
        "RIGID_OR_UNKNOWN_OBSTACLE",
        "VEGETATION_UNKNOWN",
        "VEGETATION_WITH_RIGID_GEOMETRY",
    ],
)
def test_mission_allow_never_clears_hard_safety_interlock(state: str) -> None:
    decision = resolve_terrain_policy(
        _policy(),
        preset_id="offroad",
        material_class="grass",
        evidence_state=state,
        mission_rules={"grass": "ALLOW"},
    )
    assert decision.requested_action == "ALLOW"
    assert decision.effective_action == "NO_GO"
    assert decision.safety_reason == f"hard_safety_interlock:{state}"


def test_missing_semantics_and_support_fail_closed() -> None:
    decision = resolve_terrain_policy(
        _policy(),
        preset_id="rural",
        material_class=None,
        evidence_state=None,
    )
    assert decision.material_class == "vegetation_unknown"
    assert decision.evidence_state == "UNOBSERVED"
    assert decision.effective_action == "NO_GO"


def test_woody_material_cannot_be_enabled_by_mission() -> None:
    with pytest.raises(
        VegetationMissionPolicyError,
        match="material cannot be overridden by a mission: tree_or_trunk",
    ):
        resolve_terrain_policy(
            _policy(),
            preset_id="offroad",
            material_class="tree_or_trunk",
            evidence_state="SUPPORTED_GROUND",
            mission_rules={"tree_or_trunk": "ALLOW"},
        )


def test_unknown_material_is_treated_as_unknown_vegetation() -> None:
    decision = resolve_terrain_policy(
        _policy(),
        preset_id="offroad",
        material_class="provider_specific_leaf",
        evidence_state="SUPPORTED_GROUND",
    )
    assert decision.material_class == "vegetation_unknown"
    assert decision.effective_action == "NO_GO"
    assert decision.safety_reason == "hard_safety_interlock:vegetation_unknown"


def test_candidate_manifest_freezes_unique_assets_sources_and_no_authority() -> None:
    manifest = json.loads(CANDIDATE_MANIFEST_PATH.read_text(encoding="utf-8"))
    assert manifest["schema_version"] == "missioncore.vegetation-candidate-manifest/v1"
    assert manifest["worker"]["canonical_runtime_mutation_allowed"] is False

    sources = manifest["upstream_sources"]
    assert {source["source_id"] for source in sources} == {
        "wildscenes",
        "rellis-3d",
        "orfd-offnet",
    }
    assert all(len(source["revision"]) == 40 for source in sources)

    candidates = manifest["candidate_assets"]
    candidate_ids = [candidate["candidate_id"] for candidate in candidates]
    assert len(candidate_ids) == len(set(candidate_ids)) == 10
    assert all(candidate["size_bytes"] > 0 for candidate in candidates)
    assert all(len(candidate["sha256"]) == 64 for candidate in candidates)
    assert manifest["invariants"]["missing_or_unknown_is_free"] is False
    assert manifest["invariants"]["navigation_authority"] is False
    assert manifest["invariants"]["actuation_authority"] is False


@pytest.mark.parametrize(
    ("provider_id", "provider_label", "material"),
    [
        ("goose-fine-64", "low_grass", "grass"),
        ("goose-fine-64", "high_grass", "herbaceous_vegetation"),
        ("goose-fine-64", "bush", "woody_shrub"),
        ("goose-fine-64", "tree_trunk", "tree_or_trunk"),
        ("wildscenes-19", "tree-trunk", "tree_or_trunk"),
        ("rellis-20", "tree", "tree_or_trunk"),
    ],
)
def test_fine_provider_labels_map_to_separate_material_claims(
    provider_id: str,
    provider_label: str,
    material: str,
) -> None:
    assert (
        map_provider_material(
            _provider_label_map(),
            provider_id=provider_id,
            provider_label=provider_label,
        )
        == material
    )


def test_coarse_vegetation_never_becomes_grass_permission() -> None:
    material = map_provider_material(
        _provider_label_map(),
        provider_id="goose-category-12",
        provider_label="vegetation",
    )
    assert material == "vegetation_unknown"
    decision = resolve_terrain_policy(
        _policy(),
        preset_id="offroad",
        material_class=material,
        evidence_state="SUPPORTED_GROUND",
    )
    assert decision.effective_action == "NO_GO"


def test_binary_freespace_and_unmapped_labels_make_no_material_claim() -> None:
    label_map = _provider_label_map()
    assert (
        map_provider_material(
            label_map,
            provider_id="orfd-binary-freespace",
            provider_label="freespace",
        )
        is None
    )
    assert (
        map_provider_material(
            label_map,
            provider_id="goose-fine-64",
            provider_label="person",
        )
        is None
    )