test: freeze Local G2 diagnostic evidence

2026-08-02 19:34:26 +08:00
parent 23788c0147
commit fdfd853df0
3 changed files with 203 additions and 0 deletions
@@ -0,0 +1,56 @@
+$ErrorActionPreference = 'Stop'
+
+function Assert-Equal($expected, $actual, [string]$message) {
+    if ($expected -ne $actual) {
+        throw "$message Expected: '$expected'. Actual: '$actual'."
+    }
+}
+
+function Assert-True([bool]$condition, [string]$message) {
+    if (-not $condition) {
+        throw $message
+    }
+}
+
+$repositoryRoot = Split-Path -Parent $PSScriptRoot
+$assemblyPath = Join-Path $repositoryRoot 'bin\Debug\netstandard2.0\ClumsyPilot.dll'
+$fixturePath = Join-Path $repositoryRoot 'ParkrobTrajplanner\PathSmoothing\Test\Fixtures\local-g2-diagnostic-single-turn.json'
+
+if (-not (Test-Path -LiteralPath $assemblyPath)) {
+    throw "ClumsyPilot assembly was not found: $assemblyPath"
+}
+
+$assembly = [System.Reflection.Assembly]::LoadFrom($assemblyPath)
+$loaderType = $assembly.GetType('MultiWheelC.TrajectoryPlanning.PathSmoothing.Test.LocalG2DiagnosticEvidenceLoader', $true)
+$loader = [System.Activator]::CreateInstance($loaderType)
+$loadAndVerify = $loaderType.GetMethod('LoadAndVerify')
+$evidence = $loadAndVerify.Invoke($loader, @($fixturePath))
+
+Assert-Equal 'single-turn' $evidence.ScenarioId 'Diagnostic evidence scenario must be stable.'
+Assert-Equal 'single-turn/s0/r0/w5/seed2' $evidence.CandidateStableKey 'Diagnostic evidence key must be stable.'
+Assert-Equal 5 $evidence.CandidateIndex 'Diagnostic evidence candidate index must be stable.'
+Assert-Equal 10 $evidence.CandidatePoints.Count 'Diagnostic evidence must retain all ten recorded samples.'
+Assert-Equal 'InsufficientClearance' $evidence.EvaluatorResult 'Diagnostic evidence must retain the observed evaluator result.'
+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
+    try {
+        $null = $loadAndVerify.Invoke($loader, @($temporaryEvidencePath))
+    }
+    catch {
+        $rejected = $true
+    }
+
+    Assert-True $rejected 'Tampered diagnostic evidence must be rejected.'
+}
+finally {
+    if (Test-Path -LiteralPath $temporaryEvidencePath) {
+        Remove-Item -LiteralPath $temporaryEvidencePath -Force
+    }
+}