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test: bind Local G2 diagnostic evidence

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This commit is contained in:
梁薄云
2026-08-02 19:43:20 +08:00
parent fdfd853df0
commit 570d132916
2 changed files with 81 additions and 26 deletions
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ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/LocalG2DiagnosticEvidenceLoader.cs
+58 -10
View File
@@ -12,6 +12,26 @@ public sealed class LocalG2DiagnosticEvidenceLoader
private const string FixtureSha256 = "3d05daee5a211b3e7aa0b77193423b5fa07d3135e241a4413be3518fc7efe563";
private const string CandidateStableKey = "single-turn/s0/r0/w5/seed2";
private const string CandidateSha256 = "7cefb76c77e48a49bf3212e7a2472e23036c3899daa94b5c6b68fa5db29a3392";
private const double WindowStartArcLengthMeters = 1.9199999999999982d;
private const double WindowEndArcLengthMeters = 2.1199999999999983d;
private const double StartGeometricCurvaturePerMeter = 0.41666666666666663d;
private const double EndGeometricCurvaturePerMeter = 0d;
private const double StartVehicleCurvaturePerMeter = 0.41666666666666663d;
private const double EndVehicleCurvaturePerMeter = 0d;
private static readonly LocalG2DiagnosticEvidencePointContract[] ExpectedCandidatePoints =
{
new(2.7216397035494579d, 1.7279184433567971d, 1.9199999999999982d, 0.799999999999999d, 0.799999999999999d),
new(2.7355188205174521d, 1.7423187041196302d, 1.9399999999999982d, 0.80751185024996908d, 0.80751185024996908d),
new(2.7492871654421882d, 1.7568248978050907d, 1.9599999999999982d, 0.8157618125921976d, 0.8157618125921976d),
new(2.7629234692741469d, 1.7714552535786874d, 1.9799999999999982d, 0.82542852165703573d, 0.82542852165703573d),
new(2.7764244476704873d, 1.786210614200662d, 1.9999999999999982d, 0.83333333333333237d, 0.83333333333333237d),
new(2.7925350453990334d, 1.803999635249544d, 2.0239999999999982d, 0.835253334801853d, 0.835253334801853d),
new(2.80865418003672d, 1.8217809211927092d, 2.0479999999999983d, 0.83333333355178374d, 0.83333333355178374d),
new(2.8248074262445737d, 1.8395312269498194d, 2.0719999999999983d, 0.8318933325232104d, 0.8318933325232104d),
new(2.8409691920174533d, 1.8572737784943611d, 2.0959999999999983d, 0.83237333274470626d, 0.83237333274470626d),
new(2.8571139169604551d, 1.8750318365841865d, 2.1199999999999983d, 0.83333333333333237d, 0.83333333333333237d),
};
public LocalG2DiagnosticEvidence LoadAndVerify(string evidencePath)
{
@@ -46,11 +66,13 @@ public sealed class LocalG2DiagnosticEvidenceLoader
!string.Equals(evidence.EvaluatorResult, "InsufficientClearance", StringComparison.Ordinal) ||
!string.Equals(evidence.StopGate, "Clearance", StringComparison.Ordinal) ||
!string.Equals(evidence.PublishedStatus, "Unchanged", StringComparison.Ordinal) ||
!IsFinite(evidence.WindowStartArcLengthMeters) || !IsFinite(evidence.WindowEndArcLengthMeters) ||
evidence.WindowEndArcLengthMeters.Value <= evidence.WindowStartArcLengthMeters.Value ||
!IsFinite(evidence.StartGeometricCurvaturePerMeter) || !IsFinite(evidence.EndGeometricCurvaturePerMeter) ||
!IsFinite(evidence.StartVehicleCurvaturePerMeter) || !IsFinite(evidence.EndVehicleCurvaturePerMeter) ||
evidence.CandidatePoints == null || evidence.CandidatePoints.Count != 10)
!IsExpected(evidence.WindowStartArcLengthMeters, WindowStartArcLengthMeters) ||
!IsExpected(evidence.WindowEndArcLengthMeters, WindowEndArcLengthMeters) ||
!IsExpected(evidence.StartGeometricCurvaturePerMeter, StartGeometricCurvaturePerMeter) ||
!IsExpected(evidence.EndGeometricCurvaturePerMeter, EndGeometricCurvaturePerMeter) ||
!IsExpected(evidence.StartVehicleCurvaturePerMeter, StartVehicleCurvaturePerMeter) ||
!IsExpected(evidence.EndVehicleCurvaturePerMeter, EndVehicleCurvaturePerMeter) ||
evidence.CandidatePoints == null || evidence.CandidatePoints.Count != ExpectedCandidatePoints.Length)
{
throw new InvalidDataException("Local G2 diagnostic evidence contract is invalid.");
}
@@ -59,8 +81,11 @@ public sealed class LocalG2DiagnosticEvidenceLoader
for (int index = 0; index < evidence.CandidatePoints.Count; index++)
{
LocalG2DiagnosticEvidencePoint point = evidence.CandidatePoints[index];
if (point == null || !IsFinite(point.X) || !IsFinite(point.Y) || !IsFinite(point.ReferenceArcLengthMeters) ||
!IsFinite(point.HeadingRadians) || !IsFinite(point.UnwrappedHeadingRadians) ||
LocalG2DiagnosticEvidencePointContract expected = ExpectedCandidatePoints[index];
if (point == null || !IsExpected(point.X, expected.X) || !IsExpected(point.Y, expected.Y) ||
!IsExpected(point.ReferenceArcLengthMeters, expected.ReferenceArcLengthMeters) ||
!IsExpected(point.HeadingRadians, expected.HeadingRadians) ||
!IsExpected(point.UnwrappedHeadingRadians, expected.UnwrappedHeadingRadians) ||
point.Source != (int)SmoothedPathPointSource.LocalG2Transition ||
(index > 0 && point.ReferenceArcLengthMeters.Value <= previousArc))
{
@@ -83,6 +108,29 @@ public sealed class LocalG2DiagnosticEvidenceLoader
}
private static bool IsFinite(double value) => !double.IsNaN(value) && !double.IsInfinity(value);
private static bool IsExpected(double? value, double expected)
{
return IsFinite(value) && value.Value == expected;
}
private readonly struct LocalG2DiagnosticEvidencePointContract
{
public LocalG2DiagnosticEvidencePointContract(double x, double y, double referenceArcLengthMeters, double headingRadians, double unwrappedHeadingRadians)
{
X = x;
Y = y;
ReferenceArcLengthMeters = referenceArcLengthMeters;
HeadingRadians = headingRadians;
UnwrappedHeadingRadians = unwrappedHeadingRadians;
}
public double X { get; }
public double Y { get; }
public double ReferenceArcLengthMeters { get; }
public double HeadingRadians { get; }
public double UnwrappedHeadingRadians { get; }
}
}
public sealed class LocalG2DiagnosticEvidence
@@ -92,8 +140,8 @@ public sealed class LocalG2DiagnosticEvidence
public string ScenarioId { get; set; }
public string CandidateStableKey { get; set; }
public string CandidateSha256 { get; set; }
public int CandidateIndex { get; set; }
public int SegmentIndex { get; set; }
public int? CandidateIndex { get; set; }
public int? SegmentIndex { get; set; }
public double? WindowStartArcLengthMeters { get; set; }
public double? WindowEndArcLengthMeters { get; set; }
public double? StartGeometricCurvaturePerMeter { get; set; }
@@ -113,5 +161,5 @@ public sealed class LocalG2DiagnosticEvidencePoint
public double? ReferenceArcLengthMeters { get; set; }
public double? HeadingRadians { get; set; }
public double? UnwrappedHeadingRadians { get; set; }
public int Source { get; set; }
public int? Source { get; set; }
}
ClumsyPilot/tests/verify_path_smoothing_local_g2_diagnostic_evidence.ps1
+23 -16
View File
@@ -34,23 +34,30 @@ Assert-Equal 'InsufficientClearance' $evidence.EvaluatorResult 'Diagnostic evide
Assert-Equal 'Clearance' $evidence.StopGate 'Diagnostic evidence must retain the observed stop gate.'
Assert-Equal 'Unchanged' $evidence.PublishedStatus 'Diagnostic evidence must retain the strict final status.'
$temporaryEvidencePath = Join-Path ([System.IO.Path]::GetTempPath()) ("local-g2-diagnostic-evidence-{0}.json" -f [System.Guid]::NewGuid())
try {
$tamperedContent = (Get-Content -LiteralPath $fixturePath -Raw).Replace('"StopGate": "Clearance"', '"StopGate": "Collision"')
[System.IO.File]::WriteAllText($temporaryEvidencePath, $tamperedContent, [System.Text.Encoding]::UTF8)
$rejected = $false
function Assert-Rejected([string]$tamperedContent, [string]$message) {
$temporaryEvidencePath = Join-Path ([System.IO.Path]::GetTempPath()) ("local-g2-diagnostic-evidence-{0}.json" -f [System.Guid]::NewGuid())
try {
$null = $loadAndVerify.Invoke($loader, @($temporaryEvidencePath))
}
catch {
$rejected = $true
}
[System.IO.File]::WriteAllText($temporaryEvidencePath, $tamperedContent, [System.Text.Encoding]::UTF8)
Assert-True $rejected 'Tampered diagnostic evidence must be rejected.'
}
finally {
if (Test-Path -LiteralPath $temporaryEvidencePath) {
Remove-Item -LiteralPath $temporaryEvidencePath -Force
$rejected = $false
try {
$null = $loadAndVerify.Invoke($loader, @($temporaryEvidencePath))
}
catch {
$rejected = $true
}
Assert-True $rejected $message
}
finally {
if (Test-Path -LiteralPath $temporaryEvidencePath) {
Remove-Item -LiteralPath $temporaryEvidencePath -Force
}
}
}
$fixtureContent = Get-Content -LiteralPath $fixturePath -Raw
Assert-Rejected ($fixtureContent.Replace('"StopGate": "Clearance"', '"StopGate": "Collision"')) 'Tampered stop gate must be rejected.'
Assert-Rejected ($fixtureContent.Replace('"HeadingRadians": 0.835253334801853', '"HeadingRadians": 0.935253334801853')) 'Tampered middle candidate heading must be rejected.'
Assert-Rejected ($fixtureContent.Replace('"WindowStartArcLengthMeters": 1.9199999999999982', '"WindowStartArcLengthMeters": 1.8199999999999982')) 'Tampered window must be rejected even when candidate endpoints are unchanged.'
Assert-Rejected ([regex]::Replace($fixtureContent, '(?m)^\s*"SegmentIndex": 0,\r?\n', '')) 'Evidence missing SegmentIndex must be rejected.'