Aether

package com.aether.mofe.diag

import kotlin.test.Test

import kotlin.test.assertEquals

/**

* Cross-language golden: locks the black-box wire format so the on-device Kotlin encoder and the agent's

* offline python decoder (scratchpad/blackbox/bb.py) stay byte-identical. The golden values were computed by

* the python port for the FIXED state below; if a future change to [BlackBoxCodec]/[BlackBoxSchema] drifts the

* format, this fails and the python decoder would silently mis-read real captures. Integer fields only ⇒ exact.

*/

class BlackBoxWireFormatTest {

@Test

fun wire_format_matches_the_cross_language_golden() {

val s = BlackBoxState(

frameIdx = 7, tEngineMicros = 1234567890123L,

ranges = listOf(BbRange("85b92d", distanceMm = 3697, sq = 90, rssiDbm = -91, azCentiDeg = 27010, elCentiDeg = 220)),

imu = listOf(BbImu(dtMicros = 5000, axMilli = 120, ayMilli = -30, azMilli = 9810, gxMilli = 5, gyMilli = -4, gzMilli = 2)),

pose = BbPose(xMm = 812, yMm = -1503, zMm = 1100, qwE4 = 9998, qxE4 = 100, qyE4 = -50, qzE4 = 30),

)

val payload = BlackBoxState.encode(s)

assertEquals(

"01000000070000011f71fb04cb010185b92d0e715aa5698200dc0113880078ffe226520005fffc0002032cfa21044c270e0064ffce001e",

payload.joinToString("") { (it.toInt() and 0xFF).toString(16).padStart(2, '0') },

"schema wire format drifted from the python decoder golden",

)

val luma = BlackBoxCodec.encodeToLuma(payload, cols = 80, rows = 130, repeat = 5)

assertEquals(930, luma.count { it == 255 }, "luma set-cell count drifted")

val lumaBytes = ByteArray(luma.size) { (luma[it] and 0xFF).toByte() }

assertEquals(0xc16edcfc.toInt(), BlackBoxCodec.crc32(lumaBytes), "luma bit-placement drifted from the golden")

assertEquals(s, BlackBoxState.decode(BlackBoxCodec.decodeFromLuma(luma, 80, 130, 5)!!), "must self-decode")

}

}