99 lines
3.3 KiB
Python
99 lines
3.3 KiB
Python
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#!/usr/bin/env python3
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"""Configuration propagation and bounded-size contracts for bilateral v2."""
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from pathlib import Path
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import sys
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import unittest
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CODE_ROOT = Path(__file__).resolve().parents[1]
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sys.path.insert(0, str(CODE_ROOT))
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from experiments.executors import _bilateral_scenario_and_config # noqa: E402
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from experiments.plan import build_trial_plan, load_document # noqa: E402
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from experiments.rng import named_seed_record # noqa: E402
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CONFIG_ROOT = CODE_ROOT / "config" / "experiments"
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def bilateral_trial():
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return {
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"method": {"method_id": "proposed_energy"},
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"trajectory": {
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"trajectory_id": "unit_contact",
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"family": "contact_roundtrip",
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"duration_s": 0.8,
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"contact_probe_fraction": 0.01,
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},
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"factors": {
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"map_policy": "source_stamped",
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"network_profile": {
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"forward_delay_s": 0.04,
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"return_delay_s": 0.08,
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"forward_jitter_s": 0.003,
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"return_jitter_s": 0.004,
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"forward_packet_loss": 0.01,
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"return_packet_loss": 0.02,
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},
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"haptic_profile": {
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"feedback_strength": 0.25,
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"energy_min": 0.0,
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"energy_max": 0.3,
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"energy_initial": 0.1,
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},
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# A direct factor must override the coupled profile.
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"forward_delay_s": 0.02,
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"energy_initial": 0.12,
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},
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"seeds": named_seed_record(7, {"test": "bilateral-v2"}),
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}
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class BilateralCalibrationV2Test(unittest.TestCase):
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def test_haptic_and_network_factors_reach_simulation_config(self):
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scenario, config = _bilateral_scenario_and_config(bilateral_trial())
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self.assertEqual(scenario.map_policy, "source_stamped")
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self.assertEqual(config.feedback_strength, 0.25)
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self.assertEqual(config.energy_min, 0.0)
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self.assertEqual(config.energy_max, 0.3)
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self.assertEqual(config.energy_initial, 0.12)
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self.assertEqual(config.forward_delay_s, 0.02)
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self.assertEqual(config.feedback_delay_s, 0.08)
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self.assertEqual(config.forward_jitter_s, 0.003)
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self.assertEqual(config.return_jitter_s, 0.004)
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self.assertEqual(config.forward_packet_loss, 0.01)
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self.assertEqual(config.return_packet_loss, 0.02)
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def test_v2_grids_are_directional_and_bounded(self):
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energy = build_trial_plan(
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load_document(CONFIG_ROOT / "bilateral_calibration_v2_energy.json")
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)
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network = build_trial_plan(
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load_document(CONFIG_ROOT / "bilateral_calibration_v2_network.json")
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)
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self.assertEqual(energy["pair_count"], 36)
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self.assertEqual(energy["trial_count"], 36)
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self.assertEqual(network["pair_count"], 12)
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self.assertEqual(network["trial_count"], 36)
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profiles = {
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trial["factors"]["network_profile"]["profile_id"]
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for trial in network["trials"]
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}
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self.assertEqual(
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profiles,
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{
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"nominal",
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"return_delay_80ms",
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"forward_delay_40ms",
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"asymmetric_delay",
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"asymmetric_delay_plus_jitter",
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"asymmetric_delay_plus_loss",
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},
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)
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if __name__ == "__main__":
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unittest.main()
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