test: freeze Local G2 diagnostic evidence

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/Fixtures/local-g2-diagnostic-single-turn.json

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+{
+  "SourceMeasurementBatchSha256": "ac8166828813d85bf6f8b58f985839e5b2a049e75cb94186ed04f59d540e4eed",
+  "FixtureSha256": "3d05daee5a211b3e7aa0b77193423b5fa07d3135e241a4413be3518fc7efe563",
+  "ScenarioId": "single-turn",
+  "CandidateStableKey": "single-turn/s0/r0/w5/seed2",
+  "CandidateSha256": "7cefb76c77e48a49bf3212e7a2472e23036c3899daa94b5c6b68fa5db29a3392",
+  "CandidateIndex": 5,
+  "SegmentIndex": 0,
+  "WindowStartArcLengthMeters": 1.9199999999999982,
+  "WindowEndArcLengthMeters": 2.1199999999999983,
+  "StartGeometricCurvaturePerMeter": 0.41666666666666663,
+  "EndGeometricCurvaturePerMeter": 0.0,
+  "StartVehicleCurvaturePerMeter": 0.41666666666666663,
+  "EndVehicleCurvaturePerMeter": 0.0,
+  "EvaluatorResult": "InsufficientClearance",
+  "StopGate": "Clearance",
+  "PublishedStatus": "Unchanged",
+  "CandidatePoints": [
+    { "X": 2.7216397035494579, "Y": 1.7279184433567971, "ReferenceArcLengthMeters": 1.9199999999999982, "HeadingRadians": 0.799999999999999, "UnwrappedHeadingRadians": 0.799999999999999, "Source": 4 },
+    { "X": 2.7355188205174521, "Y": 1.7423187041196302, "ReferenceArcLengthMeters": 1.9399999999999982, "HeadingRadians": 0.80751185024996908, "UnwrappedHeadingRadians": 0.80751185024996908, "Source": 4 },
+    { "X": 2.7492871654421882, "Y": 1.7568248978050907, "ReferenceArcLengthMeters": 1.9599999999999982, "HeadingRadians": 0.8157618125921976, "UnwrappedHeadingRadians": 0.8157618125921976, "Source": 4 },
+    { "X": 2.7629234692741469, "Y": 1.7714552535786874, "ReferenceArcLengthMeters": 1.9799999999999982, "HeadingRadians": 0.82542852165703573, "UnwrappedHeadingRadians": 0.82542852165703573, "Source": 4 },
+    { "X": 2.7764244476704873, "Y": 1.786210614200662, "ReferenceArcLengthMeters": 1.9999999999999982, "HeadingRadians": 0.83333333333333237, "UnwrappedHeadingRadians": 0.83333333333333237, "Source": 4 },
+    { "X": 2.7925350453990334, "Y": 1.803999635249544, "ReferenceArcLengthMeters": 2.0239999999999982, "HeadingRadians": 0.835253334801853, "UnwrappedHeadingRadians": 0.835253334801853, "Source": 4 },
+    { "X": 2.80865418003672, "Y": 1.8217809211927092, "ReferenceArcLengthMeters": 2.0479999999999983, "HeadingRadians": 0.83333333355178374, "UnwrappedHeadingRadians": 0.83333333355178374, "Source": 4 },
+    { "X": 2.8248074262445737, "Y": 1.8395312269498194, "ReferenceArcLengthMeters": 2.0719999999999983, "HeadingRadians": 0.8318933325232104, "UnwrappedHeadingRadians": 0.8318933325232104, "Source": 4 },
+    { "X": 2.8409691920174533, "Y": 1.8572737784943611, "ReferenceArcLengthMeters": 2.0959999999999983, "HeadingRadians": 0.83237333274470626, "UnwrappedHeadingRadians": 0.83237333274470626, "Source": 4 },
+    { "X": 2.8571139169604551, "Y": 1.8750318365841865, "ReferenceArcLengthMeters": 2.1199999999999983, "HeadingRadians": 0.83333333333333237, "UnwrappedHeadingRadians": 0.83333333333333237, "Source": 4 }
+  ]
+}

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Test/LocalG2DiagnosticEvidenceLoader.cs

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+using System;
+using System.Collections.Generic;
+using System.IO;
+using MultiWheelC.TrajectoryPlanning.PathSmoothing;
+using Newtonsoft.Json;
+
+namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Test;
+
+public sealed class LocalG2DiagnosticEvidenceLoader
+{
+    private const string SourceMeasurementBatchSha256 = "ac8166828813d85bf6f8b58f985839e5b2a049e75cb94186ed04f59d540e4eed";
+    private const string FixtureSha256 = "3d05daee5a211b3e7aa0b77193423b5fa07d3135e241a4413be3518fc7efe563";
+    private const string CandidateStableKey = "single-turn/s0/r0/w5/seed2";
+    private const string CandidateSha256 = "7cefb76c77e48a49bf3212e7a2472e23036c3899daa94b5c6b68fa5db29a3392";
+
+    public LocalG2DiagnosticEvidence LoadAndVerify(string evidencePath)
+    {
+        try
+        {
+            if (string.IsNullOrWhiteSpace(evidencePath))
+                throw new InvalidDataException("Diagnostic evidence path is required.");
+
+            LocalG2DiagnosticEvidence evidence = JsonConvert.DeserializeObject<LocalG2DiagnosticEvidence>(File.ReadAllText(evidencePath));
+            Validate(evidence);
+            return evidence;
+        }
+        catch (InvalidDataException)
+        {
+            throw;
+        }
+        catch (Exception exception)
+        {
+            throw new InvalidDataException("Local G2 diagnostic evidence is invalid.", exception);
+        }
+    }
+
+    private static void Validate(LocalG2DiagnosticEvidence evidence)
+    {
+        if (evidence == null ||
+            !string.Equals(evidence.SourceMeasurementBatchSha256, SourceMeasurementBatchSha256, StringComparison.Ordinal) ||
+            !string.Equals(evidence.FixtureSha256, FixtureSha256, StringComparison.Ordinal) ||
+            !string.Equals(evidence.ScenarioId, "single-turn", StringComparison.Ordinal) ||
+            !string.Equals(evidence.CandidateStableKey, CandidateStableKey, StringComparison.Ordinal) ||
+            !string.Equals(evidence.CandidateSha256, CandidateSha256, StringComparison.Ordinal) ||
+            evidence.CandidateIndex != 5 || evidence.SegmentIndex != 0 ||
+            !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)
+        {
+            throw new InvalidDataException("Local G2 diagnostic evidence contract is invalid.");
+        }
+
+        double previousArc = 0d;
+        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) ||
+                point.Source != (int)SmoothedPathPointSource.LocalG2Transition ||
+                (index > 0 && point.ReferenceArcLengthMeters.Value <= previousArc))
+            {
+                throw new InvalidDataException("Local G2 diagnostic evidence point contract is invalid.");
+            }
+
+            previousArc = point.ReferenceArcLengthMeters.Value;
+        }
+
+        if (Math.Abs(evidence.CandidatePoints[0].ReferenceArcLengthMeters.Value - evidence.WindowStartArcLengthMeters.Value) > 1e-8d ||
+            Math.Abs(evidence.CandidatePoints[evidence.CandidatePoints.Count - 1].ReferenceArcLengthMeters.Value - evidence.WindowEndArcLengthMeters.Value) > 1e-8d)
+        {
+            throw new InvalidDataException("Local G2 diagnostic evidence window contract is invalid.");
+        }
+    }
+
+    private static bool IsFinite(double? value)
+    {
+        return value.HasValue && IsFinite(value.Value);
+    }
+
+    private static bool IsFinite(double value) => !double.IsNaN(value) && !double.IsInfinity(value);
+}
+
+public sealed class LocalG2DiagnosticEvidence
+{
+    public string SourceMeasurementBatchSha256 { get; set; }
+    public string FixtureSha256 { get; set; }
+    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 double? WindowStartArcLengthMeters { get; set; }
+    public double? WindowEndArcLengthMeters { get; set; }
+    public double? StartGeometricCurvaturePerMeter { get; set; }
+    public double? EndGeometricCurvaturePerMeter { get; set; }
+    public double? StartVehicleCurvaturePerMeter { get; set; }
+    public double? EndVehicleCurvaturePerMeter { get; set; }
+    public List<LocalG2DiagnosticEvidencePoint> CandidatePoints { get; set; }
+    public string EvaluatorResult { get; set; }
+    public string StopGate { get; set; }
+    public string PublishedStatus { get; set; }
+}
+
+public sealed class LocalG2DiagnosticEvidencePoint
+{
+    public double? X { get; set; }
+    public double? Y { get; set; }
+    public double? ReferenceArcLengthMeters { get; set; }
+    public double? HeadingRadians { get; set; }
+    public double? UnwrappedHeadingRadians { get; set; }
+    public int Source { get; set; }
+}

ClumsyPilot/tests/verify_path_smoothing_local_g2_diagnostic_evidence.ps1

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+$ErrorActionPreference = 'Stop'
+
+function Assert-Equal($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
+    }
+}