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DeeJanuzandClaude Opus 5.5
a533bb973a
ft-camd tells the side cameras apart by XRService's buffer allocation order, which some XRService starts reverse; both of 2026-10-02's starts did, so the cutouts missed the hands. HANDS_SWAP_SIDES=auto (the default) has ft-hands vote from hands seen in both side cameras: the landmark rays meet in front of both cameras only under the right naming. While undecided it probes the exchanged naming with the landmark model. It decides in about 2 s of hands (right on all 7 recordings replayed), swaps the views in place, and publishes sides.json. 0 and 1 still force it, with a warning when the hands disagree. Recordings carry each part's naming and the session's decision; review, export, validate and ft-handreplay put the names right, and takes.py sides records a decision by hand. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
270 lines
12 KiB
Python
270 lines
12 KiB
Python
#!/usr/bin/env python3
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"""Tests for the side cameras' naming in recordings (sides.py) and its readers: takes.py's
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review and export, validate.py, and session.py's live decision and recording parts.
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python3 hands/rec/tests/test_sides.py
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"""
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import json
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import os
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import shutil
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import subprocess
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import sys
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import tempfile
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import time
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import unittest
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from unittest import mock
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HERE = os.path.dirname(os.path.abspath(__file__))
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sys.path.insert(0, os.path.dirname(HERE))
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import session # noqa: E402
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import sides # noqa: E402
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import takes # noqa: E402
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import validate # noqa: E402
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from test_validate import fhset, make_session, SESSION # noqa: E402
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def names(record):
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ncams = sides.HDR.unpack_from(record, 0)[1]
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return [sides.CAM.unpack_from(record, sides.HDR.size + k * sides.CAM.size)[0].split(b"\0")[0].decode()
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for k in range(ncams)]
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class RulesTest(unittest.TestCase):
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def test_rename_record(self):
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rec = fhset(10 ** 9, 3)
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out = sides.rename_record(rec)
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self.assertEqual(names(rec), ["slam_left", "slam_right"])
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self.assertEqual(names(out), ["slam_right", "slam_left"])
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self.assertEqual(len(out), len(rec))
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head = sides.HDR.size + 2 * sides.CAM.size
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self.assertEqual(out[head:], rec[head:]) # pixels untouched
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self.assertEqual(sides.rename_record(out), rec)
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def test_other_name(self):
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self.assertEqual(sides.other_name("slam_left_dk"), "slam_right_dk")
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self.assertEqual(sides.other_name("upper_left"), "upper_left")
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def test_needs_rename(self):
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self.assertTrue(sides.needs_rename(True, False))
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self.assertFalse(sides.needs_rename(True, True))
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self.assertTrue(sides.needs_rename(False, True))
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self.assertFalse(sides.needs_rename(None, True)) # unknown: leave the names
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def test_part_rename(self):
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sess = {"sides": {"swapped": True}}
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take = {"parts": {"sets.bin": {"names_swapped": False}, "sets-2.bin": {"names_swapped": True}}}
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self.assertTrue(sides.part_rename(sess, take, "sets.bin"))
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self.assertFalse(sides.part_rename(sess, take, "sets-2.bin"))
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self.assertTrue(sides.part_rename(sess, {}, "sets-3.bin")) # no record: as ft-camd named them
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self.assertFalse(sides.part_rename({}, take, "sets.bin")) # no decision
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def test_recording_runs(self):
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d = tempfile.mkdtemp()
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try:
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self.assertEqual(sides.recording_runs(d), [(0, False)])
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with open(os.path.join(d, "sides.json"), "w") as f:
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json.dump({"swapped": True, "decided_by": "auto", "names_swapped": [[0, False], [37, True]]}, f)
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runs = sides.recording_runs(d)
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self.assertEqual(runs, [(0, True), (37, False)])
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self.assertTrue(sides.rename_at(runs, 36))
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self.assertFalse(sides.rename_at(runs, 37))
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finally:
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shutil.rmtree(d)
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def test_read_live(self):
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d = tempfile.mkdtemp()
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try:
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path, ring = os.path.join(d, "sides.json"), os.path.join(d, "cam-ring")
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open(ring, "w").close()
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now = time.clock_gettime_ns(time.CLOCK_MONOTONIC)
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live = {"pid": 1, "ring_ino": os.stat(ring).st_ino, "swapped": True, "decided_by": "auto",
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"state": "decided", "updated_ns": now}
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with open(path, "w") as f:
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json.dump(live, f)
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self.assertEqual(sides.read_live(path, ring)["swapped"], True)
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self.assertIsNone(sides.read_live(path, ring, now_ns=now + 10 * 10 ** 9)) # stale
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os.remove(ring)
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open(ring, "w").close() # a new ft-camd: a new ring file
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if os.stat(ring).st_ino != live["ring_ino"]:
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self.assertIsNone(sides.read_live(path, ring))
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self.assertIsNone(sides.read_live(os.path.join(d, "none.json")))
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finally:
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shutil.rmtree(d)
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class TakesTest(unittest.TestCase):
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"""A swapped session: one take's parts recorded before the decision (ft-camd's names) and
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after it (named right)."""
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def setUp(self):
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if not takes.find_zstd():
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self.skipTest("no zstd")
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self.tmp = tempfile.mkdtemp(prefix="handrec-sides-test-")
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make_session(self.tmp)
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self.sdir = os.path.join(self.tmp, "sessions", SESSION)
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meta = takes.read_json(os.path.join(self.sdir, "session.json"))
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meta["sides"] = {"swapped": True, "decided_by": "auto", "state": "confirmed"}
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takes.write_json(os.path.join(self.sdir, "session.json"), meta)
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self.tdir = os.path.join(self.sdir, "takes", "01-hand-size")
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with open(os.path.join(self.tdir, "sets-2.bin"), "wb") as f: # after the decision: --sides 1
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for i in range(5):
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f.write(sides.rename_record(fhset(9 * 10 ** 12 + i * 10 ** 8, i)))
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tj = takes.read_json(os.path.join(self.tdir, "take.json"))
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tj["parts"] = {"sets.bin": {"names_swapped": False}, "sets-2.bin": {"names_swapped": True}}
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takes.write_json(os.path.join(self.tdir, "take.json"), tj)
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self.store = takes.Store(self.tmp)
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def tearDown(self):
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shutil.rmtree(self.tmp, ignore_errors=True)
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def test_review_reads_right_names(self):
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index = takes.take_index(self.tdir)
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self.assertEqual(index.rename, [True, False])
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self.assertEqual([c["name"] for c in index.cams], ["slam_right", "slam_left"])
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self.assertEqual([c["name"] for c in index.read_set(0)], ["slam_right", "slam_left"])
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self.assertEqual([c["name"] for c in index.read_set(len(index) - 1)], ["slam_right", "slam_left"])
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# the same pixels under the other name
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raw = takes.TakeIndex(self.tdir).read_set(0, only="slam_right")[0]["pixels"]
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self.assertEqual(raw, fhset(10 ** 12, 0)[sides.HDR.size + 2 * sides.CAM.size:][:32 * 24])
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self.assertEqual(index.renamed_sets(), 30)
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# the other take has no parts record: recorded as ft-camd named them, renamed too
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other = takes.take_index(os.path.join(self.sdir, "takes", "02-no-hands"))
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self.assertEqual(other.rename, [True])
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def test_export_writes_right_names(self):
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path = self.store.export(SESSION, low_priority=False)
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r = validate.validate(path)
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self.assertEqual(r.errors, [])
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self.assertEqual(r.warnings, [])
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m = takes.read_json(os.path.join(path, "manifest.json"))
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t = m["takes"][0]
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self.assertEqual(t["sides"], {"names_swapped": True, "renamed_sets": 30})
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self.assertEqual(m["session"]["sides"]["swapped"], True)
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self.assertEqual(takes.read_json(os.path.join(path, "takes", t["id"], "take.json"))["parts"],
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{"sets.bin": {"names_swapped": True}})
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# every exported set: right names (the rule applied again changes nothing)
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data = subprocess.run([takes.find_zstd(), "-dc", os.path.join(path, t["file"])],
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capture_output=True, check=True).stdout
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off, seen = 0, 0
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while off < len(data):
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nbytes = sides.HDR.unpack_from(data, off)[2]
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self.assertEqual(names(data[off:off + nbytes]), ["slam_right", "slam_left"])
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off, seen = off + nbytes, seen + 1
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self.assertEqual(seen, 35)
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def test_validate_catches_wrong_names(self):
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path = self.store.export(SESSION, low_priority=False)
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mpath = os.path.join(path, "manifest.json")
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m = takes.read_json(mpath)
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m["takes"][0]["sides"]["names_swapped"] = False
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takes.write_json(mpath, m)
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report = validate.Report(path)
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validate.check_manifest(m, report, path)
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self.assertTrue(any("aren't named right" in e for e in report.errors), report.errors)
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def test_undecided_warns(self):
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meta = takes.read_json(os.path.join(self.sdir, "session.json"))
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meta["sides"] = {"swapped": None}
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takes.write_json(os.path.join(self.sdir, "session.json"), meta)
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path = self.store.export(SESSION, low_priority=False)
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r = validate.validate(path)
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self.assertEqual(r.errors, [])
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self.assertTrue(any("wasn't decided" in w for w in r.warnings), r.warnings)
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m = takes.read_json(os.path.join(path, "manifest.json"))
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self.assertIsNone(m["takes"][0]["sides"]["names_swapped"]) # the parts differ
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self.assertEqual(m["takes"][0]["sides"]["renamed_sets"], 0)
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def test_sides_command(self):
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out = self.store.sides(SESSION)
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self.assertTrue(out["sides"]["swapped"])
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self.assertEqual(out["takes"]["01-hand-size"]["sets-2.bin"], {"names_swapped": True, "renamed_when_read": False})
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out = self.store.sides(SESSION, False)
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self.assertEqual(out["sides"]["decided_by"], "manual")
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self.assertTrue(out["sides"]["replaced"]["swapped"])
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self.assertTrue(out["takes"]["01-hand-size"]["sets-2.bin"]["renamed_when_read"])
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self.assertEqual(takes.take_index(self.tdir).rename, [False, True]) # the cache saw session.json change
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class SessionSidesTest(unittest.TestCase):
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def setUp(self):
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self.tmp = tempfile.mkdtemp(prefix="handrec-sides-session-")
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self.script = os.path.join(self.tmp, "script.json")
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with open(self.script, "w") as f:
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json.dump({"version": 1, "sections": [{"id": "a", "title": "A", "prompts": [{"text": "x", "seconds": 1}]}]},
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f)
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def tearDown(self):
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shutil.rmtree(self.tmp, ignore_errors=True)
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def live(self, **kw):
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d = dict(pid=1, ring_ino=0, mode="auto", state="decided", swapped=True, decided_by="auto",
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evidence={"as_named": 0, "swapped": 10}, updated_ns=time.clock_gettime_ns(time.CLOCK_MONOTONIC))
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d.update(kw)
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with open(os.path.join(self.tmp, "sides.json"), "w") as f:
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json.dump(d, f)
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def test_read_sides(self):
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s = session.Session(os.path.join(self.tmp, "base"), {}, {}, "room", self.script, dry_run=True,
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hands_dir=self.tmp)
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s.session_dir = self.tmp
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s._session_json = {"sides": {"swapped": None}}
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s._read_sides(force=True)
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self.assertIsNone(s._sides_swapped()) # no file
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self.live(swapped=None, state="deciding", decided_by=None)
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s._read_sides(force=True)
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self.assertIsNone(s._sides_swapped())
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self.live()
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s._read_sides(force=True)
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self.assertTrue(s._sides_swapped())
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self.assertEqual(s._session_json["sides"]["evidence"]["swapped"], 10)
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self.live(state="confirmed")
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s._read_sides(force=True)
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self.assertEqual(s._session_json["sides"]["state"], "confirmed")
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self.live(swapped=False, state="decided, reversed")
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s._read_sides(force=True)
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self.assertFalse(s._sides_swapped())
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self.assertTrue(s._session_json["sides"]["reversed_from"]["swapped"])
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self.assertFalse(takes.read_json(os.path.join(self.tmp, "session.json"))["sides"]["swapped"])
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def test_recorder_parts(self):
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calls = []
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class FakeProc:
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returncode = 0
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def __init__(self, argv, **kw):
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calls.append(argv)
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def poll(self):
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return 0
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take = os.path.join(self.tmp, "take")
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os.makedirs(take)
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with mock.patch.object(session.subprocess, "Popen", FakeProc):
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r1 = session.Recorder(take, 1, 10, None, None)
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r2 = session.Recorder(take, 2, 10, None, None, swap=True)
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r3 = session.Recorder(take, 3, 10, None, None, swap=False)
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argv = [c[c.index("--sides") + 1] for c in calls]
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self.assertEqual(argv, ["auto", "1", "0"])
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# ft-hands' DIR/sides.json goes into names_swapped and away
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os.makedirs(r2.dir, exist_ok=True)
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with open(os.path.join(r2.dir, "sets.bin"), "wb") as f:
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f.write(fhset(10 ** 9, 0))
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with open(os.path.join(r2.dir, "sides.json"), "w") as f:
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json.dump({"swapped": None, "names_swapped": [[0, True]]}, f)
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r2.stop()
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self.assertTrue(r2.names_swapped)
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self.assertEqual(r2.file, "sets-2.bin")
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self.assertTrue(os.path.isfile(os.path.join(take, "sets-2.bin")))
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self.assertFalse(os.path.exists(r2.dir))
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with open(os.path.join(take, "sides.json"), "w") as f:
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json.dump({"swapped": None, "names_swapped": [[0, False]]}, f)
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r1.stop()
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self.assertFalse(r1.names_swapped)
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self.assertFalse(os.path.exists(os.path.join(take, "sides.json")))
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self.assertFalse(r3.names_swapped)
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if __name__ == "__main__":
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unittest.main()
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