"""Regenerate the original controller and check exact bytes/outputs; no simulator/network."""
from pathlib import Path
import hashlib,importlib.util,json,tempfile
import numpy as np
import onnxruntime as ort
root=Path(__file__).resolve().parent
spec=importlib.util.spec_from_file_location('controller_source',root/'controller_source.py');source=importlib.util.module_from_spec(spec);spec.loader.exec_module(source)
params=json.loads((root/'parameters.json').read_text());manifest=json.loads((root/'manifest.json').read_text())
with tempfile.TemporaryDirectory(prefix='tug-reproduce-') as tmp:
 p=Path(tmp)/'policy.onnx';source.build(p,params)
 assert hashlib.sha256(p.read_bytes()).hexdigest()==manifest['provenance']['model_sha256']
 assert p.read_bytes()==(root/'policy.onnx').read_bytes()
 options=ort.SessionOptions();options.intra_op_num_threads=1
 session=ort.InferenceSession(str(p),options,providers=['CPUExecutionProvider'])
 samples=np.random.default_rng(7).normal(0,.1,(100,61)).astype(np.float32);samples[:,5]=-1;samples[:,48]=-.3
 out=np.vstack([session.run(None,{session.get_inputs()[0].name:s.reshape(1,61)})[0] for s in samples])
 np.testing.assert_allclose(out,source.act(samples,params),atol=1e-7,rtol=1e-6)
 assert np.isfinite(out).all()
print('Exact ONNX bytes reproduced; 100 inference inputs match source formula. No simulation or training run.')