rosotacom-dev 2.5.dev4__tar.gz → 2.5.dev6__tar.gz

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev4
+Version: 2.5.dev6
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/docs/testing.md

@@ -75,6 +75,16 @@ planned decimation is not counted as OTA loss. The default `--min-ratio 0.9`
 leaves a safety margin for a healthy link; tune it per gate instead of
 committing a brittle 100% threshold.
 
+**`vs_bag_ratio` is replay-only, and the run refuses to pretend otherwise.** It
+compares the delivered rate to the source's native rate, which only the bag
+knows, so `rosotacom test` needs `--bag <dir>` to evaluate it. Until #214 a run
+without one skipped those assertions silently and still printed `TEST OK` — a
+session could declare completeness on every topic and have none of it checked.
+`test` now exits non-zero naming the topics instead. If a session genuinely is
+not replay-driven, drop the assertion rather than running without the bag: a
+skipped check reads as coverage, which is the failure mode these contracts
+exist to catch.
+
 Transient-local or explicitly latched topics become `mode: latched`, because the
 contract is that the held value arrives, not that the topic keeps ticking.
 Sparse volatile topics become `mode: existence`; the current expect model has no

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/src/rosotacom/cli.py

@@ -4249,13 +4249,40 @@ def _create_scenario_tmux(
     return session_name
 
 
+def _local_ipc_run_args(network_isolated: bool) -> list[str]:
+    """Share the host IPC namespace, unless the run is network-isolated.
+
+    A peer has to exchange local-domain data with application containers on the
+    same machine — a replay, the control centre. With `--network host` but
+    `ipc=private` each container has its own `/dev/shm`, FastDDS sees two
+    participants on one host, negotiates shared memory, and writes into a
+    segment the other side cannot map. Discovery goes over UDP and works;
+    delivery goes over SHM and is dropped without a word.
+
+    The result is the worst shape a failure can take: the link comes up, the
+    heartbeat crosses at 10 Hz with 0% loss, every pipeline reads `pub=1 sub=1`
+    — and no payload ever enters it. Measured on 2026-08-09: 399 messages in
+    eight seconds inside the publisher's container, 0 in the peer's.
+
+    The OTA path never showed it, because the generated unicast profile pins
+    explicit locators and therefore forces UDP.
+
+    Not under `--network-name`. Sharing SHM there would let DDS bypass the very
+    boundary the isolation exists to simulate, and a test that passes through a
+    hole in its own isolation is worse than no test at all.
+    """
+    return [] if network_isolated else ["--ipc", "host"]
+
+
 def _base_extra_run_args(
     runtime: RuntimeConfig,
     session: ResolvedSession,
     cfg: dict[str, Any],
     instance: SessionInstance,
+    *,
+    network_isolated: bool = False,
 ) -> list[str]:
-    args: list[str] = []
+    args: list[str] = _local_ipc_run_args(network_isolated)
     ros2docker_cfg = load_config(runtime.ros2docker_config)
 
     if not ros2docker_cfg.get("mount_ws"):
@@ -4425,7 +4452,7 @@ def start_session(args: argparse.Namespace) -> str:
                 " (or pass --force to replace it, --skip-conflict-check to ignore it).",
             )
     image_name = _scoped_image_name(runtime)
-    extra_run_args = _base_extra_run_args(runtime, session, cfg, instance)
+    extra_run_args = _base_extra_run_args(runtime, session, cfg, instance, network_isolated=network_isolated)
     run_override: dict[str, object] = {}
     network_name = getattr(args, "network_name", None)
     if network_name:
@@ -6513,6 +6540,26 @@ def test_command(args: argparse.Namespace) -> int:
         from . import bag_ground_truth
 
         ground_truth = bag_ground_truth.bag_ground_truth(bag)
+    elif not getattr(args, "suggest", False):
+        # A `vs_bag_ratio` needs the bag's native rate, and without one it is
+        # skipped rather than failed -- so the run would print TEST OK having
+        # checked nothing about completeness. Refuse instead: the declaration
+        # is the statement of intent, and honouring it or failing loudly is
+        # this command's job.
+        needs_bag = status_eval.topics_requiring_bag(expect_by_topic, profile)
+        if needs_bag:
+            listed = "\n".join(f"    {base}" for base in needs_bag)
+            print(
+                f"rosotacom test: {len(needs_bag)} topic(s) declare "
+                f"`completeness.vs_bag_ratio`, which compares the delivered rate "
+                f"to the source's native rate and can only be evaluated against "
+                f"the replay bag:\n{listed}\n"
+                f"Pass `--bag <dir>`, or drop the assertion from a session that "
+                f"is not replay-driven. Without a bag it would be skipped in "
+                f"silence and this run would report success.",
+                file=sys.stderr,
+            )
+            return 1
     reports: dict[str, Any] = {}
     failures: list[str] = []
 

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/src/rosotacom/status_eval.py

@@ -105,6 +105,27 @@ def resolve_expect_for_profile(expect: dict[str, Any], profile: str | None) -> d
     return resolved
 
 
+def topics_requiring_bag(expect_by_topic: dict[str, dict[str, Any]], profile: str | None = None) -> list[str]:
+    """Topics whose expectations can only be evaluated against a replay bag.
+
+    `completeness.vs_bag_ratio` compares the delivered rate to the *source's*
+    native rate, which only a bag knows. `_check_bag_completeness` returns
+    early when no ground truth was supplied, so without `--bag` such an
+    expectation is skipped in silence and the run still prints `TEST OK`.
+
+    A skipped assertion reads as coverage, which is worse than no assertion at
+    all: it is the exact shape of the defect these contracts exist to catch.
+    The caller uses this to refuse the run instead.
+    """
+    required = []
+    for base, raw in sorted((expect_by_topic or {}).items()):
+        expect = resolve_expect_for_profile(raw or {}, profile)
+        completeness = expect.get("completeness") or {}
+        if isinstance(completeness, dict) and completeness.get("vs_bag_ratio") is not None:
+            required.append(base)
+    return required
+
+
 def expectations_from_cfg(cfg: dict[str, Any]) -> dict[str, dict[str, Any]]:
     """Map a topic's base name -> its `expect` block, from a session config."""
     out: dict[str, dict[str, Any]] = {}

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/src/rosotacom_dev.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev4
+Version: 2.5.dev6
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause

rosotacom_dev-2.5.dev6/src/rosotacom_dev.egg-info/scm_version.json

@@ -0,0 +1,8 @@
+{
+  "tag": "2.4",
+  "distance": 6,
+  "node": "gc42c5f2cadb6cfbb762982c29d43960fda54fcec",
+  "dirty": false,
+  "branch": "HEAD",
+  "node_date": "2026-08-10"
+}

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/tests/unit/test_cli.py

@@ -1888,6 +1888,29 @@ def test_resolve_session_and_base_extra_run_args(tmp_path: Path, monkeypatch: py
     assert f"{runtime.session_configs_dir[0]}:/session/definitions:ro" in args
     assert f"{runtime.session_instances_dir}:/session/instances" in args
     assert "Configured sessions:" in rosotacom._format_available_sessions(runtime)
+    # A peer shares the host IPC namespace, so it can exchange local-domain
+    # data with application containers on the same machine. See
+    # `_local_ipc_run_args` for what happens without it.
+    assert args[:2] == ["--ipc", "host"]
+
+
+def test_a_peer_shares_the_host_ipc_namespace_unless_isolated() -> None:
+    """Without it, a peer receives nothing from a local application container.
+
+    `--network host` with `ipc=private` gives every container its own
+    /dev/shm. FastDDS sees two participants on one host, chooses shared memory,
+    and the reader never maps the writer's segment. Discovery succeeds, delivery
+    does not, and nothing in the output says so: the link comes up, the
+    heartbeat crosses at 10 Hz with 0% loss, and no payload ever enters it.
+
+    Isolated on 2026-08-09 with two containers from one image on one host:
+    `ipc=private` received 0 messages, `--ipc host` received 200.
+    """
+    assert rosotacom._local_ipc_run_args(network_isolated=False) == ["--ipc", "host"]
+    # Under network isolation it must not be shared: SHM would carry data
+    # straight past the boundary the isolation exists to simulate, and a test
+    # that passes through a hole in its own isolation is worse than none.
+    assert rosotacom._local_ipc_run_args(network_isolated=True) == []
 
 
 def test_container_helpers_use_docker_and_ros2docker_stop(tmp_path: Path, monkeypatch: pytest.MonkeyPatch) -> None:
@@ -1928,7 +1951,7 @@ def test_start_session_detached_dispatches_ros2docker(monkeypatch: pytest.Monkey
     monkeypatch.setattr(
         rosotacom,
         "_base_extra_run_args",
-        lambda runtime, session, cfg, instance: ["--network", "host"],
+        lambda runtime, session, cfg, instance, **kwargs: ["--network", "host"],
     )
     monkeypatch.setattr(rosotacom, "_resolve_mode", lambda mode: "detached")
     monkeypatch.setattr(rosotacom, "_list_docker_containers", lambda all_states=False: [])
@@ -1972,7 +1995,7 @@ def test_start_session_attach_dispatches_command_run(monkeypatch: pytest.MonkeyP
     monkeypatch.setattr(rosotacom, "_effective_session_config", lambda *args, **kwargs: cfg)
     monkeypatch.setattr(rosotacom, "_auto_identity", lambda *args: "a")
     monkeypatch.setattr(rosotacom, "_scoped_image_name", lambda runtime: "image:id")
-    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance: [])
+    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance, **kwargs: [])
     monkeypatch.setattr(rosotacom, "_resolve_mode", lambda mode: "attach")
     monkeypatch.setattr(rosotacom, "_list_docker_containers", lambda all_states=False: [])
     monkeypatch.setattr(rosotacom, "_stop_container_name", lambda *args, **kwargs: True)

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/tests/unit/test_concurrency.py

@@ -143,7 +143,7 @@ def _patch_start_session_collaborators(
     monkeypatch.setattr(rosotacom, "_resolve_session", lambda session_dir, runtime: session)
     monkeypatch.setattr(rosotacom, "_effective_session_config", lambda *args, **kwargs: cfg)
     monkeypatch.setattr(rosotacom, "_scoped_image_name", lambda runtime: "image:id")
-    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance: [])
+    monkeypatch.setattr(rosotacom, "_base_extra_run_args", lambda runtime, session, cfg, instance, **kwargs: [])
     monkeypatch.setattr(rosotacom, "_resolve_mode", lambda mode: "detached")
     monkeypatch.setattr(rosotacom, "_container_exists", lambda name: False)
     monkeypatch.setattr(rosotacom, "_wait_for_container_ready", lambda name: None)

{rosotacom_dev-2.5.dev4 → rosotacom_dev-2.5.dev6}/tests/unit/test_status_eval.py

@@ -7,6 +7,7 @@ from rosotacom.status_eval import (
     evaluate_reports,
     expectations_from_cfg,
     resolve_expect_for_profile,
+    topics_requiring_bag,
 )
 
 
@@ -350,6 +351,9 @@ def test_bag_completeness_above_ratio_passes() -> None:
 
 
 def test_bag_completeness_skipped_without_ground_truth() -> None:
+    # `evaluate_report` itself still skips -- it has no bag to compare against.
+    # That silence is exactly why the CLI must refuse the run one level up; see
+    # the `topics_requiring_bag` tests below (#214).
     topic = {"base": "/tf", "direction": "inbound", "overall": "OK", "stages": [_counted2("app_in", 1.0, 100)]}
     assert (
         evaluate_report({"peer": "a", "topics": [topic]}, {"/tf": {"completeness": {"vs_bag_ratio": 0.9}}}, None, None)
@@ -357,6 +361,29 @@ def test_bag_completeness_skipped_without_ground_truth() -> None:
     )
 
 
+def test_topics_requiring_bag_lists_only_replay_only_expectations() -> None:
+    expect = {
+        "/tf": {"completeness": {"vs_bag_ratio": 0.1}},
+        "/costmap": {"completeness": {"vs_bag_ratio": 0.85}},
+        "/plain": {"hz": {"min": 5}},
+        "/within_peer_only": {"completeness": {"min_ratio": 0.7}},
+    }
+    assert topics_requiring_bag(expect) == ["/costmap", "/tf"]
+
+
+def test_topics_requiring_bag_is_empty_without_any_declaration() -> None:
+    assert topics_requiring_bag({"/plain": {"hz": {"min": 5}}}) == []
+    assert topics_requiring_bag({}) == []
+
+
+def test_topics_requiring_bag_sees_a_per_profile_declaration() -> None:
+    # RFC 0004: the conditional block can come from a profile override, so a
+    # profiled run must be inspected through the same resolution the evaluator
+    # uses -- otherwise the requirement is invisible under `--profile`.
+    expect = {"/tf": {"per_profile": {"lossy": {"completeness": {"vs_bag_ratio": 0.5}}}}}
+    assert topics_requiring_bag(expect, profile="lossy") == ["/tf"]
+
+
 def test_suggest_stream_topic_emits_hz_band() -> None:
     rep = {"peer": "a", "topics": [_topic("/tf", "inbound", "OK", [_stage("app_in", 10.0, 30.0)])]}
     s = suggest_expectations({"a": rep})

rosotacom_dev-2.5.dev4/src/rosotacom_dev.egg-info/scm_version.json

@@ -1,8 +0,0 @@
-{
-  "tag": "2.4",
-  "distance": 4,
-  "node": "g95f1ef2e6930a7e1133540144f721597778fcde9",
-  "dirty": false,
-  "branch": "HEAD",
-  "node_date": "2026-08-09"
-}