File size: 11,242 Bytes
d8290eb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 | #!/usr/bin/env python3
"""Read-only H2BR LowState inspector; this script never enables LowCmd."""
from __future__ import annotations
import argparse
from dataclasses import dataclass
import math
from pathlib import Path
import sys
import time
import numpy as np
ROOT = Path(__file__).resolve().parents[1]
if str(ROOT) not in sys.path:
sys.path.insert(0, str(ROOT))
from runtime.h2_contract import HARDWARE_JOINT_NAMES, H2_DOF, MODE_PR # noqa: E402
from runtime.h2_shm_bridge import ( # noqa: E402
H2BridgeState,
H2SharedMemoryBridge,
SHM_NAME,
)
from runtime.motion_attestation import interface_hash # noqa: E402
DEFAULT_MAX_STATE_AGE_S = 0.10
DEFAULT_MAX_PLANNER_AGE_S = 0.12
@dataclass(frozen=True)
class SnapshotValidation:
failures: tuple[str, ...]
state_age_s: float
planner_age_s: float
@property
def passed(self) -> bool:
return not self.failures
def _stamp_age_s(stamp_ns: int, now_ns: int) -> float:
if isinstance(stamp_ns, bool) or not isinstance(stamp_ns, (int, np.integer)):
return math.inf
if int(stamp_ns) <= 0:
return math.inf
return (int(now_ns) - int(stamp_ns)) * 1.0e-9
def _validate_age(
failures: list[str],
*,
label: str,
stamp_ns: int,
age_s: float,
max_age_s: float,
) -> None:
if isinstance(stamp_ns, bool) or not isinstance(stamp_ns, (int, np.integer)):
failures.append(f"{label}_stamp_ns is not an integer")
elif int(stamp_ns) <= 0:
failures.append(f"{label}_stamp_ns must be positive")
elif age_s < 0.0:
failures.append(f"{label}_stamp_ns is in the future (age={age_s:.6f}s)")
elif not math.isfinite(age_s) or age_s > max_age_s:
failures.append(f"{label} is stale (age={age_s:.6f}s > {max_age_s:.6f}s)")
def validate_snapshot(
state: H2BridgeState,
*,
require_healthy: bool = False,
require_planner: bool = False,
require_disarmed: bool = False,
expected_interface: str | None = None,
max_state_age_s: float = DEFAULT_MAX_STATE_AGE_S,
max_planner_age_s: float = DEFAULT_MAX_PLANNER_AGE_S,
now_ns: int | None = None,
) -> SnapshotValidation:
"""Pure validation of one already-read H2BR snapshot.
``require_planner`` intentionally implies all healthy-state checks, while
``require_disarmed`` is independent and only checks the two request bits.
Passing ``now_ns`` makes timestamp behavior deterministic in unit tests.
"""
if not math.isfinite(max_state_age_s) or max_state_age_s <= 0.0:
raise ValueError("max_state_age_s must be positive and finite")
if not math.isfinite(max_planner_age_s) or max_planner_age_s <= 0.0:
raise ValueError("max_planner_age_s must be positive and finite")
if now_ns is None:
now_ns = time.monotonic_ns()
if (
isinstance(now_ns, bool)
or not isinstance(now_ns, (int, np.integer))
or int(now_ns) <= 0
):
raise ValueError("now_ns must be a positive integer")
state_age_s = _stamp_age_s(state.state_stamp_ns, int(now_ns))
planner_age_s = _stamp_age_s(state.tt_stamp_ns, int(now_ns))
failures: list[str] = []
healthy_required = bool(require_healthy or require_planner)
if healthy_required:
if not state.robot_connected:
failures.append("robot_connected=0 (expected 1)")
if not state.state_ready:
failures.append("state_ready=0 (expected 1)")
if int(state.state_mode_pr) != MODE_PR:
failures.append(f"mode_pr={int(state.state_mode_pr)} (expected {MODE_PR})")
if state.emergency_stop:
failures.append("fault/emergency_stop=1 (expected 0)")
for label, values in (("joint_pos", state.joint_pos), ("joint_vel", state.joint_vel)):
try:
array = np.asarray(values, dtype=np.float64)
except (TypeError, ValueError) as error:
failures.append(f"{label} cannot be converted to numeric values: {error}")
continue
if array.shape != (H2_DOF,):
failures.append(f"{label} shape={array.shape} (expected ({H2_DOF},))")
elif not np.isfinite(array).all():
bad = np.flatnonzero(~np.isfinite(array)).tolist()
failures.append(f"{label} contains non-finite values at indices {bad}")
_validate_age(
failures,
label="state",
stamp_ns=state.state_stamp_ns,
age_s=state_age_s,
max_age_s=max_state_age_s,
)
if expected_interface is not None:
if (
not expected_interface
or "/" in expected_interface
or expected_interface in {".", ".."}
):
failures.append(f"expected interface name is invalid: {expected_interface!r}")
else:
expected_hash = interface_hash(expected_interface)
actual_hash = int(state.bridge_interface_hash)
if actual_hash != expected_hash:
failures.append(
"bridge interface hash mismatch: "
f"0x{actual_hash:08x} != 0x{expected_hash:08x} ({expected_interface})"
)
if require_planner:
if not state.tt_ready:
failures.append("tt_ready=0 (expected 1)")
_validate_age(
failures,
label="planner",
stamp_ns=state.tt_stamp_ns,
age_s=planner_age_s,
max_age_s=max_planner_age_s,
)
if require_disarmed:
if state.start_requested:
failures.append("start_requested=1 (expected 0 while disarmed)")
if state.stop_requested:
failures.append("stop_requested=1 (expected 0 while disarmed)")
return SnapshotValidation(tuple(failures), state_age_s, planner_age_s)
def _format_age(age_s: float) -> str:
return f"{age_s:.6f}" if math.isfinite(age_s) else "inf"
def _print_snapshot(state: H2BridgeState, *, now_ns: int) -> None:
state_age_s = _stamp_age_s(state.state_stamp_ns, now_ns)
planner_age_s = _stamp_age_s(state.tt_stamp_ns, now_ns)
print(
f"state_ready={int(state.state_ready)} tt_ready={int(state.tt_ready)} "
f"mode_pr={state.state_mode_pr} "
f"mode_machine={state.mode_machine} start={int(state.start_requested)} "
f"stop={int(state.stop_requested)} fault={int(state.emergency_stop)} "
f"robot_connected={int(state.robot_connected)} "
f"state_age_s={_format_age(state_age_s)} "
f"tt_age_s={_format_age(planner_age_s)} "
f"interface_hash=0x{int(state.bridge_interface_hash):08x}"
)
for index, name in enumerate(HARDWARE_JOINT_NAMES):
print(
f" {index:02d} {name.removesuffix('_joint'):<24} "
f"q={state.joint_pos[index]:+8.4f} dq={state.joint_vel[index]:+8.4f}"
)
def main(argv: list[str] | None = None) -> int:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--shm-name", default=SHM_NAME)
parser.add_argument("--once", action="store_true")
parser.add_argument("--period", type=float, default=0.5)
parser.add_argument(
"--require-healthy",
action="store_true",
help="Fail unless the robot LowState snapshot is connected, PR(0), finite, fresh, and fault-free.",
)
parser.add_argument(
"--require-planner",
action="store_true",
help="Require healthy LowState plus a ready and fresh planner snapshot.",
)
parser.add_argument(
"--require-disarmed",
action="store_true",
help="Independently require both start_requested and stop_requested to be clear.",
)
parser.add_argument(
"--expected-interface",
default=None,
help="Validate bridge_interface_hash against this exact Linux interface name.",
)
parser.add_argument(
"--max-state-age-s",
type=float,
default=DEFAULT_MAX_STATE_AGE_S,
help=f"Maximum accepted LowState age (default: {DEFAULT_MAX_STATE_AGE_S:.2f}s).",
)
parser.add_argument(
"--max-planner-age-s",
type=float,
default=DEFAULT_MAX_PLANNER_AGE_S,
help=f"Maximum accepted planner receipt age (default: {DEFAULT_MAX_PLANNER_AGE_S:.2f}s).",
)
args = parser.parse_args(argv)
if not math.isfinite(args.max_state_age_s) or args.max_state_age_s <= 0.0:
parser.error("--max-state-age-s must be positive and finite")
if not math.isfinite(args.max_planner_age_s) or args.max_planner_age_s <= 0.0:
parser.error("--max-planner-age-s must be positive and finite")
if not math.isfinite(args.period) or args.period <= 0.0:
parser.error("--period must be positive and finite")
validation_requested = bool(
args.require_healthy
or args.require_planner
or args.require_disarmed
or args.expected_interface is not None
)
bridge = H2SharedMemoryBridge(args.shm_name)
try:
while True:
state = bridge.read_state()
now_ns = time.monotonic_ns()
_print_snapshot(state, now_ns=now_ns)
result = validate_snapshot(
state,
require_healthy=args.require_healthy,
require_planner=args.require_planner,
require_disarmed=args.require_disarmed,
expected_interface=args.expected_interface,
max_state_age_s=args.max_state_age_s,
max_planner_age_s=args.max_planner_age_s,
now_ns=now_ns,
)
if validation_requested:
if result.passed:
scopes: list[str] = []
if args.require_planner:
scopes.append("planner+healthy")
elif args.require_healthy:
scopes.append("healthy")
if args.require_disarmed:
scopes.append("disarmed")
if not scopes:
scopes.append("interface")
scope = "+".join(scopes)
details = [f"[PASS] H2BR {scope} snapshot"]
if args.require_healthy or args.require_planner:
details.append(f"state_age_s={_format_age(result.state_age_s)}")
if args.require_planner:
details.append(f"planner_age_s={_format_age(result.planner_age_s)}")
if args.expected_interface is not None:
details.append(
f"interface={args.expected_interface} "
f"hash=0x{int(state.bridge_interface_hash):08x}"
)
print(" ".join(details))
else:
print("[FAIL] H2BR snapshot validation")
for failure in result.failures:
print(f"[FAIL] {failure}")
return 1
if args.once:
return 0
time.sleep(max(0.05, args.period))
finally:
bridge.close()
if __name__ == "__main__":
raise SystemExit(main())
|