tests: add schema round-trips, TTL/expiry checks, and utility clamps (v0.1)

Author: BryceWDesign

tests/test_schemas.py

@@ -0,0 +1,116 @@
+"""
+IX-HapticSight — Tests for canonical schemas and helpers.
+
+These tests intentionally avoid external deps and package setup by
+inserting the project's `src/` into sys.path and importing `ohip.*`.
+"""
+
+import os
+import sys
+from time import time
+from datetime import datetime, timezone
+
+# Make `ohip` importable without packaging
+sys.path.insert(0, os.path.abspath("src"))
+
+from ohip.schemas import (  # noqa: E402
+    SafetyLevel, HazardClass, ConsentMode, ConsentSource, NudgeLevel,
+    Vector3, RPY, Pose,
+    ConsentRecord, SafetyMapCell, Nudge,
+    ImpedanceProfile, ContactPlan, RestTargets,
+    clamp, validate_priority
+)
+
+
+def test_consent_record_ttl_active_and_expired():
+    now_ts = time()
+    ts_iso = datetime.fromtimestamp(now_ts, timezone.utc).isoformat()
+
+    rec = ConsentRecord(
+        subject_id="anon",
+        mode=ConsentMode.EXPLICIT,
+        source=ConsentSource.VERBAL,
+        timestamp=ts_iso,
+        scope=["shoulder_contact"],
+        ttl_s=1,
+    )
+    assert rec.is_active(now_ts) is True
+    # 2 seconds later -> expired
+    assert rec.is_active(now_ts + 2.0) is False
+
+
+def test_safety_map_cell_roundtrip():
+    cell = SafetyMapCell(cell=(1, 2, 3),
+                         hazard_class=HazardClass.HOT,
+                         level=SafetyLevel.YELLOW,
+                         updated_ms=42)
+    d = cell.to_dict()
+    assert d["cell"] == [1, 2, 3]
+    assert d["class"] == "hot"
+    assert d["level"] == "YELLOW"
+
+    back = SafetyMapCell.from_dict(d)
+    assert back.cell == (1, 2, 3)
+    assert back.hazard_class == HazardClass.HOT
+    assert back.level == SafetyLevel.YELLOW
+    assert back.updated_ms == 42
+
+
+def test_nudge_roundtrip_and_expiry():
+    pose = Pose(frame="W", xyz=Vector3(0.1, 0.2, 0.3), rpy=RPY(0.0, 0.0, 1.57))
+    n = Nudge(
+        level=NudgeLevel.GREEN,
+        target=pose,
+        normal=Vector3(0.0, 0.8, 0.6),
+        rationale="test",
+        priority=0.8,
+        expires_in_ms=100,
+    )
+    d = n.to_dict()
+    m = Nudge.from_dict(d)
+    assert m.level == NudgeLevel.GREEN
+    assert m.target.frame == "W"
+    assert m.normal.y == 0.8
+
+    # Expiry check: emitted at t=1.000 s, now=1.200 s -> expired (100 ms TTL)
+    assert m.is_expired(now_utc_ms=1.2, emitted_ms=1000) is True
+    # Not expired at 1.050 s
+    assert m.is_expired(now_utc_ms=1.05, emitted_ms=1000) is False
+
+
+def test_contact_plan_validate_defaults():
+    pose = Pose(frame="W", xyz=Vector3(0.4, -0.1, 1.3), rpy=RPY(0.0, 0.0, 1.57))
+    plan = ContactPlan.from_dict({
+        "target": pose.to_dict(),
+        "normal": [0.0, 0.8, 0.6],
+        "peak_force_N": 1.0,
+        "dwell_ms": 1500,
+        "approach_speed_mps": 0.15,
+        "release_speed_mps": 0.20,
+        "impedance": {
+            "normal_N_per_mm": [0.3, 0.6],
+            "tangential_N_per_mm": [0.1, 0.3],
+        },
+        "rationale": "unit-test",
+        "consent_mode": "explicit",
+    })
+    # validate() is called in from_dict(), but call again to ensure idempotence
+    plan.validate()
+    assert plan.peak_force_N <= 1.2
+    assert 1000 <= plan.dwell_ms <= 3000
+
+
+def test_rest_targets_to_dict_structure():
+    rt = RestTargets()
+    d = rt.to_dict()
+    assert d["frame"] == "B"
+    for key in ("index_tip", "middle_tip", "ring_tip", "little_tip"):
+        assert key in d and len(d[key]) == 3
+        assert all(isinstance(v, (int, float)) for v in d[key])
+
+
+def test_utils_clamp_and_priority():
+    assert clamp(2.0, 0.0, 1.0) == 1.0
+    assert clamp(-1.0, 0.0, 1.0) == 0.0
+    assert validate_priority(-0.5) == 0.0
+    assert validate_priority(1.5) == 1.0