Add regression tests for separate-thread perception and CV collision sweep - #23
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Add regression tests for separate-thread perception and CV collision sweep#23cursor[bot] wants to merge 2 commits into
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Locks the intentional divergence from predictor-gated precompute: movers without prediction still sweep under check_collision's slow path, while one-point/None trajectories stay pose-only BB checks. Co-authored-by: Majid Khonji <majid-khonji@users.noreply.github.com>
Assert Perception worker creation, dedicated sensor fetch in worker_perception, and that combined=False keeps perceive off the planner worker. Co-authored-by: Majid Khonji <majid-khonji@users.noreply.github.com>
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Summary
Adds focused regression coverage for high-risk paths that recent async/collision work left thinly tested. Complements (does not duplicate) open draft PRs #17/#20/#22.
Risky behavior now covered
combined_perception_planning=False): creates a dedicatedPerceptionworker;worker_perceptionfetches its ownSensorFrame; planner worker never runsperceivein this modecheck_collisionCV sweep: movers without prediction still get a constant-velocity swept hull whenobstacle_polygonsis omitted — intentionally diverges from predictor-gatedprecompute_obstacle_polygonsNone/ 1-point paths use current-pose BB checks only (no corridor, no CV sweep)Test files added/updated
test/c40_execution/test_c42_sensor_snapshot.pytest/c50_common/test_c55_collision_checking.pyWhy these tests materially reduce regression risk
Separate-thread mode is the non-default async path and was untested end-to-end for snapshot ownership; a wrong combined gate can either starve perception or double-run it. The slow-path CV sweep is public API and easy to “align” incorrectly with the predictor-gated fast path, which would silently change collision costs for any caller that skips precompute. Short/None trajectories are more common after recent end-of-path tracker fixes.
Validation
All 15 tests passed. No production code changes.
Does not overlap open coverage PRs #17/#20 or bugfix PR #22.