kyleandClaude Sonnet 5.5
ce7063f647
hermes_thermal reads the CPU temperature and throttle flags, publishes /health/*, and at 72 / 77 / 82 C scales the camera, face and detector rates down through their live parameters, restoring them as it cools one level at a time with a margin and a dwell so it does not flap. The face and detector gained live parameter callbacks for this, the bridge's robot://status carries a health block (temperature, level, throttle flags now and since boot), and a bringup test asserts the guard's normal rates equal the real ones. Live testing on the robot (forcing 73 / 78 / 85 C and back) caught a bug the unit tests missed: one logging line whose severity changed between warn and info raised in rclpy and killed the guard on its first cooling step, and the respawn hid it. Fixed with separate call sites; the tick now survives any error; a full heat-then-cool test drives the real node, and a mutation check confirmed it fails on the original bug. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01AFN8nRRCiDiMN7ChBpHJhs
58 lines
2.2 KiB
Python
58 lines
2.2 KiB
Python
import pytest
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from hermes_thermal.policy import LEVELS, SCALE, ThermalPolicy, scaled
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def run(p, temps, t0=0.0, dt=1.0):
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t, out = t0, []
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for temp in temps:
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t += dt
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out.append(p.update(temp, t))
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return out, t
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def test_cool_stays_ok():
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out, _ = run(ThermalPolicy(), [55, 60, 65, 71.9])
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assert set(out) == {'ok'}
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def test_heating_escalates_at_once_even_several_levels():
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p = ThermalPolicy()
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assert p.update(73, 1.0) == 'warm'
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assert p.update(78, 2.0) == 'hot'
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assert p.update(90, 3.0) == 'critical' # straight to the top if it asks for it
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assert ThermalPolicy().update(84, 1.0) == 'critical'
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def test_cooling_needs_the_margin_and_the_dwell_and_goes_one_step_at_a_time():
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p = ThermalPolicy(dwell_s=20.0, margin_c=3.0)
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p.update(84, 0.0) # critical
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assert p.update(75, 5.0) == 'critical' # cooler, but inside the dwell
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assert p.update(75, 25.0) == 'hot' # dwell over, 75 < 82-3: one step down
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assert p.update(75, 26.0) == 'hot' # not another step at once
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assert p.update(73, 46.0) == 'warm' # 73 < 77-3
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assert p.update(70, 47.0) == 'warm'
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assert p.update(68, 67.0) == 'ok' # 68 < 72-3
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def test_a_temperature_hovering_at_a_threshold_does_not_flap():
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p = ThermalPolicy(dwell_s=20.0, margin_c=3.0)
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out, _ = run(p, [72.5, 71.5, 72.2, 71.0, 72.1, 70.0, 72.3] * 6, dt=1.0)
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assert out[0] == 'warm' and set(out) == {'warm'} # never drops back to ok while it stays within the margin
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def test_a_reheat_during_recovery_escalates_again():
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p = ThermalPolicy(dwell_s=10.0)
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p.update(84, 0.0)
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assert p.update(70, 20.0) == 'hot'
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assert p.update(83, 21.0) == 'critical'
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def test_scaling_respects_floors_and_never_exceeds_normal():
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assert scaled(15.0, 'ok', 2.0) == 15.0
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assert scaled(15.0, 'hot', 2.0) == pytest.approx(15 * 0.45)
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assert scaled(15.0, 'critical', 4.0) == 4.0 # the floor wins over 15*0.2 = 3
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assert scaled(1.0, 'critical', 2.0) == 1.0 # a floor above normal must not raise the rate
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assert [scaled(30.0, lv, 8.0) for lv in LEVELS] == sorted([scaled(30.0, lv, 8.0) for lv in LEVELS], reverse=True)
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assert SCALE['ok'] == 1.0
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