feat: package TG3 TS1P OmniSocket teleoperation

tg3_omnisocket_transport/test_session_gate.py

@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+"""Offline tests for the EAI teleoperation session gate."""
+
+from __future__ import annotations
+
+import importlib.util
+import json
+from pathlib import Path
+from types import ModuleType, SimpleNamespace
+import sys
+import unittest
+
+
+fake_omnisocket = ModuleType("omnisocket")
+fake_omnisocket.CONTROL_DEFAULTS = {}
+fake_omnisocket.MSG_TYPE_ERROR = 5
+fake_omnisocket.Session = object
+sys.modules.setdefault("omnisocket", fake_omnisocket)
+
+module_path = Path(__file__).with_name("omnisocket_xtele_sender.py")
+spec = importlib.util.spec_from_file_location("omnisocket_xtele_sender", module_path)
+assert spec is not None and spec.loader is not None
+sender_module = importlib.util.module_from_spec(spec)
+spec.loader.exec_module(sender_module)
+XteleSender = sender_module.XteleSender
+
+
+def buttons(pressed: bool) -> dict[str, object]:
+    return {
+        "button": {
+            "left": [False, False, pressed],
+            "right": [False, False, pressed],
+        },
+        "hand": {"position": {"left": 0.0, "right": 0.0}},
+    }
+
+
+class SessionGateTest(unittest.TestCase):
+    def setUp(self) -> None:
+        args = SimpleNamespace(
+            start_stop_hold_s=3.0,
+            start_marker_frames=50,
+            source_timeout_s=0.25,
+            max_feedback_age_ms=500.0,
+            max_pending_frames=100,
+        )
+        self.sender = XteleSender(args)
+
+    def test_start_and_stop_each_require_a_new_continuous_hold(self) -> None:
+        # Boot requires a release, so a button held across service restart
+        # cannot start a session.
+        self.assertIsNone(self.sender._update_teleop_gate(0.0, buttons(True)))
+        self.assertIsNone(self.sender._update_teleop_gate(0.1, buttons(False)))
+
+        self.assertIsNone(self.sender._update_teleop_gate(1.0, buttons(True)))
+        self.assertIsNone(self.sender._update_teleop_gate(3.99, buttons(True)))
+        self.assertEqual(
+            self.sender._update_teleop_gate(4.01, buttons(True)), "start"
+        )
+        first_id = self.sender.teleop_session_id
+        self.assertTrue(self.sender.teleop_active)
+        self.assertIsNotNone(first_id)
+
+        # Keeping the same hold cannot immediately toggle the new session off.
+        self.assertIsNone(self.sender._update_teleop_gate(8.0, buttons(True)))
+        self.assertTrue(self.sender.teleop_active)
+        self.assertIsNone(self.sender._update_teleop_gate(8.1, buttons(False)))
+
+        self.assertIsNone(self.sender._update_teleop_gate(9.0, buttons(True)))
+        self.assertIsNone(self.sender._update_teleop_gate(11.99, buttons(True)))
+        self.assertEqual(
+            self.sender._update_teleop_gate(12.01, buttons(True)), "stop"
+        )
+        self.assertFalse(self.sender.teleop_active)
+        self.assertEqual(self.sender.teleop_session_id, first_id)
+
+    def test_releasing_during_hold_resets_the_timer(self) -> None:
+        self.sender._update_teleop_gate(0.0, buttons(False))
+        self.sender._update_teleop_gate(1.0, buttons(True))
+        self.sender._update_teleop_gate(2.0, buttons(False))
+        self.sender._update_teleop_gate(3.0, buttons(True))
+        self.assertIsNone(self.sender._update_teleop_gate(5.9, buttons(True)))
+        self.assertEqual(
+            self.sender._update_teleop_gate(6.01, buttons(True)), "start"
+        )
+
+    def test_transport_metadata_is_overwritten(self) -> None:
+        data = buttons(False)
+        data["tg3_transport"] = {
+            "protocol_version": 999,
+            "session_id": "forged",
+            "session_state": "stop",
+        }
+        payload, merged = self.sender._build_payload(
+            data,
+            None,
+            "a" * 32,
+            7,
+            "start",
+        )
+        self.assertFalse(merged)
+        metadata = json.loads(payload)["tg3_transport"]
+        self.assertEqual(metadata["protocol_version"], 2)
+        self.assertEqual(metadata["session_id"], "a" * 32)
+        self.assertEqual(metadata["session_seq"], 7)
+        self.assertEqual(metadata["session_state"], "start")
+
+    def test_stale_or_backlogged_transport_is_rejected(self) -> None:
+        class FakeSession:
+            def __init__(self, feedback_age: int, pending: int) -> None:
+                self.feedback_age = feedback_age
+                self.pending = pending
+
+            def stats(self) -> dict[str, int]:
+                return {"connected": 1, "registered": 1}
+
+            def kcp_stats(self) -> dict[str, int]:
+                return {
+                    "snd_queue": self.pending,
+                    "snd_buffer": 0,
+                    "last_feedback_age_ms": self.feedback_age,
+                }
+
+        self.sender.session_connected_at = 0.0
+        self.sender.session = FakeSession(600, 0)
+        self.assertIn("feedback stale", self.sender._session_unhealthy_reason())
+        self.sender.session = FakeSession(1, 101)
+        self.assertIn("pending queue", self.sender._session_unhealthy_reason())
+
+
+if __name__ == "__main__":
+    unittest.main()