closedloop/validate.py

#!/usr/bin/env python3
"""Validate the frozen CoDrive closed-loop route package."""

from __future__ import annotations

import argparse
import hashlib
import json
import math
import xml.etree.ElementTree as ET
from collections import Counter, defaultdict
from pathlib import Path
from typing import Optional


DEFAULT_ROOT = Path(__file__).resolve().parent
EXPECTED_FAMILIES = {
    "occluded_pedestrian": "occluded_pedestrian",
    "vehicle_cut_in": "lane_cut_in",
    "static_obstacle_reveal": "reveal_obstacle",
    "wrong_way_left_turn": "ghost_driver_left_turn",
    "wrong_way_right_turn": "ghost_driver_right_turn",
    "right_turn_on_red_yield": "right_turn_on_red",
}
EXPECTED_SCENARIO_TYPES = {
    "occluded_pedestrian": "ClosedOccludedPedestrian",
    "vehicle_cut_in": "ClosedLaneCutIn",
    "static_obstacle_reveal": "ClosedRevealObstacle",
    "wrong_way_left_turn": "ClosedGhostDriverLeftTurn",
    "wrong_way_right_turn": "ClosedGhostDriverRightTurn",
    "right_turn_on_red_yield": "ClosedSignalizedJunctionRightTurnOnRed",
}
EXPECTED_WEATHER_PROFILES = {
    "clear_day",
    "cloudy_day",
    "wet_day",
    "light_rain",
    "dusk",
}
POINT_TAGS = (
    "scenario_arm_point",
    "cooperative_trigger_point",
    "event_trigger_point",
    "collision_point",
)
POINT_RECORD_KEYS = {
    "scenario_arm_point": "arm",
    "cooperative_trigger_point": "hint",
    "event_trigger_point": "event",
    "collision_point": "reference",
}


def _value(scenario: ET.Element, tag: str) -> str:
    element = scenario.find(tag)
    assert element is not None, f"missing <{tag}>"
    assert "value" in element.attrib, f"<{tag}> has no value"
    return element.attrib["value"]


def _point(element: ET.Element) -> tuple[float, float, float]:
    return tuple(float(element.attrib.get(key, 0.0)) for key in ("x", "y", "z"))


def _route_points(route: ET.Element) -> list[tuple[float, float, float]]:
    points = [_point(node) for node in route.findall("./waypoints/position")]
    assert len(points) >= 2, f"{route.attrib.get('id')}: fewer than two waypoints"
    return points


def _cumulative(points: list[tuple[float, float, float]]) -> list[float]:
    lengths = [0.0]
    for first, second in zip(points, points[1:]):
        lengths.append(lengths[-1] + math.hypot(second[0] - first[0], second[1] - first[1]))
    return lengths


def _project(
    points: list[tuple[float, float, float]],
    lengths: list[float],
    target: tuple[float, float, float],
) -> tuple[float, float]:
    best_distance = float("inf")
    best_s = 0.0
    for index, (first, second) in enumerate(zip(points, points[1:])):
        delta = (second[0] - first[0], second[1] - first[1])
        segment_sq = sum(value * value for value in delta)
        if segment_sq <= 1e-9:
            continue
        ratio = sum(
            (target[axis] - first[axis]) * delta[axis] for axis in range(2)
        ) / segment_sq
        ratio = min(max(ratio, 0.0), 1.0)
        projection = tuple(first[axis] + ratio * delta[axis] for axis in range(2))
        distance = math.hypot(target[0] - projection[0], target[1] - projection[1])
        if distance < best_distance:
            best_distance = distance
            best_s = lengths[index] + ratio * math.sqrt(segment_sq)
    return best_s, best_distance


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 _normalized_geometry(route: ET.Element) -> tuple:
    points = _route_points(route)
    return tuple(
        (
            round(point[0], 2),
            round(point[1], 2),
            round(point[2], 2),
        )
        for point in points
    )


def _canonical_xml(element: ET.Element) -> bytes:
    clone = ET.fromstring(ET.tostring(element, encoding="utf-8"))
    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 _standalone_path(root: Path, family: str, route_id: str) -> Path:
    return root / "routes" / EXPECTED_FAMILIES[family] / f"{route_id}.xml"


def validate(root: Path, expected_per_family: Optional[int] = None) -> dict:
    manifest_path = root / "manifest.json"
    combined_path = root / "coopeval_closed.xml"
    assert manifest_path.is_file(), manifest_path
    assert combined_path.is_file(), combined_path

    manifest = json.loads(manifest_path.read_text(encoding="utf-8"))
    assert manifest["version"] in {
        "codrive_closed_v1.0",
        "lantern_closed_v1.1",
    }, manifest["version"]
    if expected_per_family is None:
        route_count = int(manifest["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)
    assert manifest["route_count"] == expected_total, manifest["route_count"]
    assert len(manifest["routes"]) == expected_total, len(manifest["routes"])

    combined = ET.parse(combined_path).getroot()
    routes = combined.findall("route")
    assert len(routes) == expected_total, len(routes)
    route_ids = [route.attrib["id"] for route in routes]
    assert len(route_ids) == len(set(route_ids)), "route IDs are not globally unique"

    records = {record["route_id"]: record for record in manifest["routes"]}
    assert set(records) == set(route_ids), "manifest and combined XML disagree"

    counts: Counter[str] = Counter()
    towns: dict[str, set[str]] = defaultdict(set)
    geometries: dict[str, set[tuple]] = defaultdict(set)
    source_ids: dict[str, set[str]] = defaultdict(set)
    variants: dict[str, dict[str, list[str]]] = defaultdict(
        lambda: defaultdict(list)
    )
    route_lengths = []

    for route in routes:
        route_id = route.attrib["id"]
        record = records[route_id]
        scenario = route.find("./scenarios/scenario")
        assert scenario is not None, f"{route_id}: missing scenario"
        assert len(route.findall("./scenarios/scenario")) == 1, (
            f"{route_id}: expected exactly one scenario"
        )

        family = _value(scenario, "closed_loop_family")
        assert family in EXPECTED_FAMILIES, f"{route_id}: unknown family {family}"
        assert scenario.attrib.get("type") == EXPECTED_SCENARIO_TYPES[family], (
            f"{route_id}: wrong scenario type"
        )
        assert record["family"] == family, f"{route_id}: manifest family mismatch"
        assert route.attrib.get("source_route_id") == record["source_route_id"]
        counts[family] += 1
        towns[family].add(route.attrib.get("town", ""))
        source_ids[family].add(route.attrib.get("source_route_id", ""))
        variants[family]["weather_profile"].append(record["weather_profile"])
        for tag in (
            "occluder_model",
            "ped_age",
            "cut_in_from",
            "cut_in_model",
            "deterministic_actor",
            "obstacle_model",
            "car_a_dir",
            "ghost_model",
            "ghost_speed",
            "flow_speed",
        ):
            element = scenario.find(tag)
            if element is not None and "value" in element.attrib:
                variants[family][tag].append(element.attrib["value"])

        prompt = _value(scenario, "cooperative_prompt")
        assert prompt == record["prompt"], f"{route_id}: prompt mismatch"
        assert "<FRONT_CAR_POS>" in prompt, f"{route_id}: prompt has no position token"
        assert _value(scenario, "event_trigger_policy") == "distance_or_timeout"
        assert _value(scenario, "cooperative_enabled").lower() == "true"

        points = _route_points(route)
        lengths = _cumulative(points)
        segment_lengths = [
            lengths[index + 1] - lengths[index] for index in range(len(lengths) - 1)
        ]
        assert min(segment_lengths) > 1e-3, f"{route_id}: duplicate waypoints"
        # Sparse route anchors are intentional. CARLA's global route planner
        # connects anchors along the road graph; straight-line densification
        # through an intersection can snap intermediate points to wrong lanes.
        max_segment_length = max(segment_lengths)
        candidate_length_raw = route.attrib.get("candidate_route_length_m")
        candidate_geometry_hash = route.attrib.get("candidate_geometry_sha256", "")
        sparse_candidate = (
            len(points) == 2
            and route.attrib.get("candidate_source")
            and candidate_length_raw is not None
            and len(candidate_geometry_hash) == 64
        )
        if sparse_candidate:
            candidate_length = float(candidate_length_raw)
            assert candidate_length <= 160.0, (
                f"{route_id}: candidate route is too long ({candidate_length:.2f} m)"
            )
            assert max_segment_length <= candidate_length + 5.0, (
                f"{route_id}: endpoint gap {max_segment_length:.2f} m exceeds "
                f"candidate length {candidate_length:.2f} m"
            )
            route_length = candidate_length
        else:
            route_length = lengths[-1]
        route_lengths.append(route_length)
        if max_segment_length > 100.0:
            assert (
                sparse_candidate
            ), f"{route_id}: unverified sparse route anchors"

        route_s = {}
        trigger = scenario.find("trigger_point")
        assert trigger is not None, f"{route_id}: missing trigger_point"
        if sparse_candidate:
            assert set(record["route_s"]) >= {"arm", "hint", "event", "reference"}
            assert set(record["points"]) >= {"arm", "hint", "event", "reference"}
            for tag in POINT_TAGS:
                element = scenario.find(tag)
                assert element is not None, f"{route_id}: missing <{tag}>"
                record_key = POINT_RECORD_KEYS[tag]
                expected_point = tuple(
                    float(record["points"][record_key][axis])
                    for axis in ("x", "y", "z")
                )
                point_error = math.dist(_point(element), expected_point)
                assert point_error <= 0.02, (
                    f"{route_id}: <{tag}> differs from frozen candidate "
                    f"by {point_error:.3f} m"
                )
                route_s[tag] = float(record["route_s"][record_key])
            activation_policy = scenario.find("scenario_activation_policy")
            if (
                activation_policy is not None
                and activation_policy.attrib.get("value") == "route_start"
            ):
                expected_trigger = points[0]
            else:
                expected_trigger = _point(scenario.find("scenario_arm_point"))
            trigger_error = math.dist(_point(trigger), expected_trigger)
            assert trigger_error <= 0.02, (
                f"{route_id}: trigger point differs from its activation point "
                f"by {trigger_error:.3f} m"
            )
        else:
            for tag in POINT_TAGS:
                element = scenario.find(tag)
                assert element is not None, f"{route_id}: missing <{tag}>"
                route_s[tag], off_route = _project(points, lengths, _point(element))
                assert off_route <= 0.35, (
                    f"{route_id}: <{tag}> is {off_route:.2f} m off route"
                )
            trigger_s, trigger_off_route = _project(points, lengths, _point(trigger))
            assert trigger_off_route <= 0.35
            assert abs(trigger_s - route_s["scenario_arm_point"]) <= 0.1

        arm_s = route_s["scenario_arm_point"]
        hint_s = route_s["cooperative_trigger_point"]
        event_s = route_s["event_trigger_point"]
        reference_s = route_s["collision_point"]
        assert -0.01 <= arm_s <= hint_s <= event_s <= reference_s <= route_length + 0.01, (
            f"{route_id}: invalid temporal point order "
            f"{arm_s:.2f}/{hint_s:.2f}/{event_s:.2f}/{reference_s:.2f}"
        )
        assert abs((hint_s - arm_s) - 4.0) <= 0.12, (
            f"{route_id}: arm-to-hint distance is {hint_s - arm_s:.2f} m"
        )

        expected_hint = float(_value(scenario, "hint_lead_distance"))
        expected_event = float(_value(scenario, "event_lead_distance"))
        assert abs((reference_s - hint_s) - expected_hint) <= 0.15, (
            f"{route_id}: hint lead mismatch"
        )
        assert abs((reference_s - event_s) - expected_event) <= 0.15, (
            f"{route_id}: event lead mismatch"
        )
        force_after = float(_value(scenario, "event_force_after_hint_time"))
        expected_force = 0.0 if family == "right_turn_on_red_yield" else 2.0
        assert abs(force_after - expected_force) <= 1e-6, (
            f"{route_id}: force timeout {force_after}"
        )

        start_buffer = arm_s
        recovery = route_length - reference_s
        assert start_buffer + 0.15 >= float(record["start_before_arm_m"]), (
            f"{route_id}: only {start_buffer:.2f} m before arm"
        )
        assert recovery + 0.15 >= float(record["min_recovery_m"]), (
            f"{route_id}: only {recovery:.2f} m recovery"
        )
        assert abs(route_length - float(record["route_length_m"])) <= 0.15, (
            f"{route_id}: route length={route_length:.2f}, "
            f"manifest={record['route_length_m']}"
        )
        assert abs(recovery - float(record["recovery_distance_m"])) <= 0.15, (
            f"{route_id}: recovery XML={recovery:.2f}, "
            f"manifest={record['recovery_distance_m']}"
        )

        if family == "vehicle_cut_in":
            assert float(_value(scenario, "same_lane_time")) == 0.0
            assert float(_value(scenario, "closed_cut_in_min_speed_mps")) >= 6.5
            assert _value(scenario, "closed_cut_in_direct_steer").lower() == "false"
        elif family == "static_obstacle_reveal":
            assert _value(scenario, "preserve_background_traffic").lower() == "true"
            assert _value(scenario, "keep_obstacle").lower() == "false"

        standalone = _standalone_path(root, family, route_id)
        assert standalone.is_file(), standalone
        standalone_routes = ET.parse(standalone).getroot().findall("route")
        assert len(standalone_routes) == 1, standalone
        assert standalone_routes[0].attrib["id"] == route_id, standalone
        assert _canonical_xml(standalone_routes[0]) == _canonical_xml(route), (
            f"{route_id}: standalone XML differs from combined XML"
        )

        geometry = _normalized_geometry(route)
        assert geometry not in geometries[family], (
            f"{route_id}: duplicate normalized geometry within {family}"
        )
        geometries[family].add(geometry)

    assert counts == Counter(
        {family: expected_per_family for family in EXPECTED_FAMILIES}
    ), dict(counts)
    assert all(len(ids) == expected_per_family for ids in source_ids.values()), {
        family: len(ids) for family, ids in source_ids.items()
    }
    assert manifest["family_counts"] == dict(counts), manifest["family_counts"]
    assert all(
        set(values["weather_profile"]) == EXPECTED_WEATHER_PROFILES
        for values in variants.values()
    ), "each family must cover all frozen weather profiles"

    pedestrian = variants["occluded_pedestrian"]
    assert len(set(pedestrian["occluder_model"])) >= 3
    assert set(pedestrian["ped_age"]) == {"adult", "child"}

    cut_in = variants["vehicle_cut_in"]
    cut_in_directions = Counter(cut_in["cut_in_from"])
    assert set(cut_in_directions) == {"left", "right"}
    assert min(cut_in_directions.values()) >= max(1, int(expected_per_family * 0.4))
    assert len(set(cut_in["cut_in_model"])) >= 5
    assert set(cut_in["deterministic_actor"]) == {"true"}

    reveal = variants["static_obstacle_reveal"]
    assert len(set(reveal["obstacle_model"])) >= 8
    assert set(reveal["car_a_dir"]) == {"left", "right"}

    for family in ("wrong_way_left_turn", "wrong_way_right_turn"):
        wrong_way = variants[family]
        assert len(set(wrong_way["ghost_model"])) >= 5
        assert len(set(wrong_way["ghost_speed"])) >= 5

    assert len(set(variants["right_turn_on_red_yield"]["flow_speed"])) >= 5

    minimum_towns = {
        "occluded_pedestrian": 5,
        "vehicle_cut_in": 3,
        "static_obstacle_reveal": 2,
        "wrong_way_left_turn": 3,
        "wrong_way_right_turn": 2,
        "right_turn_on_red_yield": 3,
    }
    assert all(
        len(towns[family]) >= minimum
        for family, minimum in minimum_towns.items()
    ), {
        family: len(towns[family])
        for family in minimum_towns
    }

    snapshot_xml = root / "source_snapshot/coopeval_scenes.xml"
    overrides = Path(manifest["route_geometry_overrides"])
    if not overrides.is_file():
        overrides = root / "config/route_geometry_overrides.json"
    assert snapshot_xml.is_file()
    assert overrides.is_file()
    assert _sha256(snapshot_xml) == manifest["source_xml_sha256"]
    assert _sha256(overrides) == manifest["route_geometry_overrides_sha256"]

    return {
        "root": str(root),
        "route_count": len(routes),
        "family_counts": dict(sorted(counts.items())),
        "town_counts": {family: len(values) for family, values in sorted(towns.items())},
        "route_length_min_m": round(min(route_lengths), 2),
        "route_length_max_m": round(max(route_lengths), 2),
    }


def main() -> int:
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument("--root", type=Path, default=DEFAULT_ROOT)
    parser.add_argument(
        "--expected-per-family",
        type=int,
        default=None,
        help="Expected Route-A count per family; inferred from manifest when omitted.",
    )
    args = parser.parse_args()
    summary = validate(args.root.resolve(), args.expected_per_family)
    print("validation passed")
    print(json.dumps(summary, indent=2, sort_keys=True))
    return 0


if __name__ == "__main__":
    raise SystemExit(main())