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"""Validate paired CoDrive Route-B controls against frozen Route A."""
from __future__ import annotations
import argparse
import copy
import hashlib
import json
import xml.etree.ElementTree as ET
from collections import Counter
from pathlib import Path
from typing import Optional
PROJECT_ROOT = Path(__file__).resolve().parents[2]
DEFAULT_DATASET_ROOT = PROJECT_ROOT / "closed_dataset"
EXPECTED_FAMILIES = (
"occluded_pedestrian",
"vehicle_cut_in",
"static_obstacle_reveal",
"wrong_way_left_turn",
"wrong_way_right_turn",
"right_turn_on_red_yield",
)
def _sha256(path: Path) -> str:
digest = hashlib.sha256()
with path.open("rb") as stream:
for chunk in iter(lambda: stream.read(1024 * 1024), b""):
digest.update(chunk)
return digest.hexdigest()
def _canonical(element: ET.Element) -> bytes:
clone = copy.deepcopy(element)
for node in clone.iter():
if node.text is not None and not node.text.strip():
node.text = None
if node.tail is not None and not node.tail.strip():
node.tail = None
return ET.tostring(clone, encoding="utf-8")
def _single_route(path: Path) -> ET.Element:
root = ET.parse(path).getroot()
routes = root.findall("route")
assert len(routes) == 1, f"{path}: expected one route, found {len(routes)}"
return routes[0]
def _a_payload(route: ET.Element) -> bytes:
clone = copy.deepcopy(route)
clone.attrib.pop("id", None)
scenarios = clone.find("scenarios")
if scenarios is not None:
clone.remove(scenarios)
return _canonical(clone)
def _b_payload(route: ET.Element) -> bytes:
clone = copy.deepcopy(route)
clone.attrib.pop("id", None)
clone.attrib.pop("benchmark_variant", None)
clone.attrib.pop("paired_route_a_id", None)
scenarios = clone.find("scenarios")
if scenarios is not None:
clone.remove(scenarios)
return _canonical(clone)
def validate(dataset_root: Path, expected_per_family: Optional[int] = None) -> dict:
manifest_a_path = dataset_root / "manifest.json"
manifest_b_path = dataset_root / "route_b_manifest.json"
lock_b_path = dataset_root / "route_b.lock.json"
combined_b_path = dataset_root / "coopeval_closed_B.xml"
manifest_a = json.loads(manifest_a_path.read_text(encoding="utf-8"))
manifest_b = json.loads(manifest_b_path.read_text(encoding="utf-8"))
lock_b = json.loads(lock_b_path.read_text(encoding="utf-8"))
if expected_per_family is None:
route_count = int(manifest_a["route_count"])
assert route_count % len(EXPECTED_FAMILIES) == 0, route_count
expected_per_family = route_count // len(EXPECTED_FAMILIES)
expected_total = expected_per_family * len(EXPECTED_FAMILIES)
expected_family_counts = {
family: expected_per_family for family in EXPECTED_FAMILIES
}
assert manifest_a["route_count"] == expected_total
assert manifest_b["route_count"] == expected_total
assert manifest_b["variant"] == "B"
assert lock_b["route_count"] == expected_total
assert lock_b["route_a_manifest_sha256"] == _sha256(manifest_a_path)
assert lock_b["route_b_manifest_sha256"] == _sha256(manifest_b_path)
assert lock_b["combined_route_b_sha256"] == _sha256(combined_b_path)
assert lock_b["scenario_wrapper_sha256"] == _sha256(
dataset_root / "scenarios" / "closed_coopeval_scenarios.py"
)
records_a = {record["route_id"]: record for record in manifest_a["routes"]}
records_b = {
record["route_b_id"]: record for record in manifest_b["routes"]
}
assert len(records_a) == len(records_b) == expected_total
combined_routes = ET.parse(combined_b_path).getroot().findall("route")
assert len(combined_routes) == expected_total
combined_by_id = {route.attrib["id"]: route for route in combined_routes}
assert len(combined_by_id) == expected_total, "duplicate Route-B IDs"
assert set(combined_by_id) == set(records_b), (
"combined Route-B XML and manifest disagree"
)
family_counts: Counter[str] = Counter()
towns: Counter[str] = Counter()
for route_b_id, record_b in records_b.items():
route_a_id = record_b["route_a_id"]
assert route_a_id in records_a, f"{route_b_id}: missing paired Route A"
assert route_b_id == f"{route_a_id}_B"
route_a_path = dataset_root / record_b["route_a_xml"]
route_b_path = dataset_root / record_b["route_b_xml"]
assert route_a_path.is_file(), route_a_path
assert route_b_path.is_file(), route_b_path
assert record_b["route_a_sha256"] == _sha256(route_a_path)
assert record_b["route_b_sha256"] == _sha256(route_b_path)
route_a = _single_route(route_a_path)
route_b = _single_route(route_b_path)
assert route_b.attrib["id"] == route_b_id
assert route_b.attrib.get("benchmark_variant") == "B"
assert route_b.attrib.get("paired_route_a_id") == route_a_id
assert route_b.attrib.get("town") == route_a.attrib.get("town")
assert route_b.attrib.get("source_route_id") == route_a.attrib.get(
"source_route_id"
)
assert _a_payload(route_a) == _b_payload(route_b), (
f"{route_b_id}: Route-A/B weather or waypoint payload differs"
)
scenarios_a = route_a.findall("./scenarios/scenario")
scenarios_b = route_b.findall("./scenarios/scenario")
assert len(scenarios_a) == len(scenarios_b) == 1
scenario_a, scenario_b = scenarios_a[0], scenarios_b[0]
assert scenario_b.attrib.get("type") == scenario_a.attrib.get("type")
assert scenario_b.attrib.get("name") == f"{scenario_a.attrib['name']}_B"
assert scenario_b.find("route_b_control") is not None
assert scenario_b.find("route_b_control").attrib.get("value") == "true"
assert scenario_b.find("cooperative_enabled") is not None
assert scenario_b.find("cooperative_enabled").attrib.get("value") == "false"
for required in (
"trigger_point",
"cooperative_trigger_point",
"event_trigger_point",
"collision_point",
"closed_loop_family",
):
assert scenario_b.find(required) is not None, (
f"{route_b_id}: missing context field {required!r}"
)
assert _canonical(route_b) == _canonical(combined_by_id[route_b_id]), (
f"{route_b_id}: standalone and combined XML differ"
)
family_counts[record_b["family"]] += 1
towns[record_b["town"]] += 1
assert dict(family_counts) == expected_family_counts, family_counts
assert lock_b["family_counts"] == expected_family_counts
summary = {
"valid": True,
"route_a_count": len(records_a),
"route_b_count": len(records_b),
"paired_count": len(records_b),
"family_counts": dict(family_counts),
"town_counts": dict(sorted(towns.items())),
"hazard_behaviors_in_route_b": 0,
"context_preserving_control_scenarios": len(records_b),
"cooperative_hints_in_route_b": 0,
"route_geometry_weather_mismatches": 0,
"manifest": str(manifest_b_path),
"lock": str(lock_b_path),
}
(dataset_root / "route_b_validation.json").write_text(
json.dumps(summary, indent=2) + "\n",
encoding="utf-8",
)
return summary
def main() -> int:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"--root",
type=Path,
default=DEFAULT_DATASET_ROOT,
help="Closed dataset root (default: %(default)s)",
)
parser.add_argument(
"--expected-per-family",
type=int,
default=None,
help="Expected A/B pairs per family; inferred from Route-A manifest when omitted.",
)
args = parser.parse_args()
summary = validate(args.root.resolve(), args.expected_per_family)
print(json.dumps(summary, indent=2))
return 0
if __name__ == "__main__":
raise SystemExit(main())
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