107 lines
3.5 KiB
Python
107 lines
3.5 KiB
Python
from __future__ import annotations
|
|
|
|
import json
|
|
from pathlib import Path
|
|
|
|
import pytest
|
|
|
|
from k1link.device_plugins.xgrids_k1.mqtt.capture import FRAME_HEADER, RAW_MAGIC
|
|
from k1link.device_plugins.xgrids_k1.viewer.replay import (
|
|
ReplayFormatError,
|
|
detect_replay_format,
|
|
iter_replay_messages,
|
|
)
|
|
|
|
|
|
def _write_native(path: Path, topic: str, payload: bytes) -> None:
|
|
topic_raw = topic.encode()
|
|
path.write_bytes(
|
|
RAW_MAGIC + FRAME_HEADER.pack(len(topic_raw), len(payload)) + topic_raw + payload
|
|
)
|
|
|
|
|
|
def _append_native(path: Path, topic: str, payload: bytes) -> None:
|
|
topic_raw = topic.encode()
|
|
with path.open("ab") as stream:
|
|
stream.write(FRAME_HEADER.pack(len(topic_raw), len(payload)))
|
|
stream.write(topic_raw)
|
|
stream.write(payload)
|
|
|
|
|
|
def test_native_replay_uses_aligned_metadata_timing(tmp_path: Path) -> None:
|
|
capture = tmp_path / "mqtt.raw.k1mqtt"
|
|
_write_native(capture, "lixel/application/report/lio_pose", b"pose")
|
|
(tmp_path / "mqtt.metadata.jsonl").write_text(
|
|
json.dumps(
|
|
{
|
|
"record_type": "message",
|
|
"sequence": 1,
|
|
"received_at_epoch_ns": 123_000_000_000,
|
|
"received_monotonic_ns": 456,
|
|
}
|
|
)
|
|
+ "\n"
|
|
)
|
|
|
|
assert detect_replay_format(capture) == "k1mqtt"
|
|
message = list(iter_replay_messages(capture))[0]
|
|
assert message.topic.endswith("lio_pose")
|
|
assert message.payload == b"pose"
|
|
assert message.received_at_epoch_ns == 123_000_000_000
|
|
assert message.received_monotonic_ns == 456
|
|
|
|
|
|
def test_native_replay_stops_at_crash_truncated_metadata_tail(tmp_path: Path) -> None:
|
|
capture = tmp_path / "mqtt.raw.k1mqtt"
|
|
_write_native(capture, "RealtimePointcloud", b"first")
|
|
_append_native(capture, "RealtimePointcloud", b"uncommitted-tail")
|
|
first_record = {
|
|
"record_type": "message",
|
|
"sequence": 1,
|
|
"received_at_epoch_ns": 123_000_000_000,
|
|
"received_monotonic_ns": 456,
|
|
}
|
|
(tmp_path / "mqtt.metadata.jsonl").write_text(
|
|
json.dumps(first_record) + "\n" + '{"record_type":"message"',
|
|
encoding="utf-8",
|
|
)
|
|
|
|
messages = list(iter_replay_messages(capture))
|
|
|
|
assert [message.payload for message in messages] == [b"first"]
|
|
|
|
|
|
def test_native_replay_rejects_newline_terminated_metadata_corruption(tmp_path: Path) -> None:
|
|
capture = tmp_path / "mqtt.raw.k1mqtt"
|
|
_write_native(capture, "RealtimePointcloud", b"frame")
|
|
(tmp_path / "mqtt.metadata.jsonl").write_text("{corrupt\n", encoding="utf-8")
|
|
|
|
with pytest.raises(ReplayFormatError, match="not valid JSON"):
|
|
list(iter_replay_messages(capture))
|
|
|
|
|
|
def test_legacy_tsv_replay_validates_and_decodes_payload(tmp_path: Path) -> None:
|
|
capture = tmp_path / "payloads.tsv"
|
|
capture.write_bytes(b"1784124315.186225000\tRealtimePath\t4\t0001aaff\n")
|
|
|
|
assert detect_replay_format(capture) == "legacy_tsv"
|
|
message = list(iter_replay_messages(capture))[0]
|
|
assert message.received_at_epoch_ns == 1_784_124_315_186_225_000
|
|
assert message.payload == b"\x00\x01\xaa\xff"
|
|
|
|
|
|
@pytest.mark.parametrize(
|
|
"line",
|
|
[
|
|
b"1\tonly\tthree\n",
|
|
b"bad\ttopic\t1\t00\n",
|
|
b"1\ttopic\t2\t00\n",
|
|
b"1\ttopic\t1\tzz\n",
|
|
],
|
|
)
|
|
def test_legacy_tsv_rejects_unreviewed_shapes(tmp_path: Path, line: bytes) -> None:
|
|
capture = tmp_path / "payloads.tsv"
|
|
capture.write_bytes(line)
|
|
with pytest.raises(ReplayFormatError):
|
|
list(iter_replay_messages(capture))
|