114 lines
3.4 KiB
Python
114 lines
3.4 KiB
Python
from catopt_swarm import (
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ADMMSolver,
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ContractRegistry,
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ContractSpec,
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DroneControllerAdapter,
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GroundRoverControllerAdapter,
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LocalProblem,
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PlanDelta,
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SafetyPolicy,
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verify_swarm_solution,
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)
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from catopt_swarm.registry import check_adapter_conformance
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def test_solver_converges_and_respects_safety_policy():
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robots = [
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LocalProblem(robot_id="drone-1", target_pos=0.0, current_pos=0.0),
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LocalProblem(robot_id="drone-2", target_pos=10.0, current_pos=10.0),
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]
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policy = SafetyPolicy(max_travel_distance=15.0, min_separation=1.0, energy_budget=20.0)
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solution = ADMMSolver(rho=1.5, max_iter=40, epsilon=1e-4).solve(robots, policy)
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assert solution.certificate.converged
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assert abs(solution.consensus - 5.0) < 0.25
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assert verify_swarm_solution(solution, policy).passed
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def test_contract_registry_and_adapter_conformance():
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registry = ContractRegistry()
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spec = ContractSpec(
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contract_id="drone-patrol-v1",
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adapter_name="drone-controller",
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domain="aerial",
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version="1.0.0",
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invariants=("collision_free", "energy_budgeted"),
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)
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registry.register(spec)
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adapter = DroneControllerAdapter()
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report = check_adapter_conformance(adapter, spec)
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assert registry.has_contract("drone-patrol-v1")
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assert report.passed
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def test_rover_adapter_maps_mission_to_problem():
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adapter = GroundRoverControllerAdapter()
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problem = adapter.to_local_problem("rover-1", {"target_pos": 3.5, "initial_pos": 1.0})
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assert problem.robot_id == "rover-1"
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assert problem.target_pos == 3.5
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assert problem.initial_pos == 1.0
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def test_solver_applies_delta_and_tracks_replay_state():
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robots = [
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LocalProblem(robot_id="drone-1", target_pos=0.0, current_pos=0.0),
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LocalProblem(robot_id="drone-2", target_pos=10.0, current_pos=10.0),
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]
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policy = SafetyPolicy(max_travel_distance=15.0, min_separation=1.0, energy_budget=20.0)
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delta = PlanDelta(
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author="mission-orchestrator",
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contract_id="patrol-update",
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sequence=1,
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base_version=0,
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target_robot_id="drone-2",
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updates={"target_pos": 8.0},
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)
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solution = ADMMSolver(rho=1.5, max_iter=40, epsilon=1e-4).solve(robots, policy, [delta])
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assert solution.audit_log[0].applied_deltas == ["patrol-update:mission-orchestrator:1"]
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assert solution.shared.last_applied_sequences["drone-2"] == 1
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def test_registry_rejects_duplicate_contracts():
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registry = ContractRegistry()
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spec = ContractSpec(
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contract_id="drone-patrol-v1",
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adapter_name="drone-controller",
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domain="aerial",
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version="1.0.0",
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)
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registry.register(spec)
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try:
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registry.register(spec)
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except ValueError as exc:
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assert "already registered" in str(exc)
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else:
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raise AssertionError("duplicate contract registration should fail")
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def test_adapter_conformance_flags_missing_methods():
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spec = ContractSpec(
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contract_id="drone-patrol-v1",
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adapter_name="drone-controller",
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domain="aerial",
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version="1.0.0",
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)
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class IncompleteAdapter:
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name = "drone-controller"
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domain = "aerial"
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def to_local_problem(self, *args, **kwargs):
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raise NotImplementedError
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report = check_adapter_conformance(IncompleteAdapter(), spec)
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assert not report.passed
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assert any("missing adapter method" in issue for issue in report.issues)
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