autocal layout first design

shared/tests/test_visual_policy.py

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+"""Shared 2D/3D flow sampling and domain-mask rules."""
+
+from __future__ import annotations
+
+import numpy as np
+import pytest
+
+from orisys_app_shared.scene3d.contracts import ThreeDError
+from orisys_app_shared.scene3d.visual_policy import (
+    VisualPolicy,
+    build_domain_mask,
+    paint_domain_background,
+    select_flow_samples,
+)
+
+
+def test_build_domain_mask_rejects_shape_mismatch() -> None:
+    geo = np.ones((4, 5), dtype=bool)
+    with pytest.raises(ThreeDError):
+        build_domain_mask(geo, shape_hw=(3, 5))
+
+
+def test_build_domain_mask_intersects_roi() -> None:
+    geo = np.ones((3, 3), dtype=bool)
+    roi = np.zeros((3, 3), dtype=bool)
+    roi[1, 1] = True
+    mask, diags = build_domain_mask(geo, roi)
+    assert mask is not None
+    assert bool(mask[1, 1]) and not bool(mask[0, 0])
+    assert diags == ()
+
+
+def test_select_flow_samples_uses_shared_grid_and_mask() -> None:
+    h, w = 40, 40
+    flow = np.zeros((h, w, 2), dtype=np.float64)
+    flow[15, 15] = (0.5, 0.0)  # |2*flow| = 1.0
+    mask = np.ones((h, w), dtype=bool)
+    mask[:, :5] = False
+    policy = VisualPolicy(flow_on_px=0.4, flow_grid_spacing=10, flow_edge_margin=0)
+    samples = select_flow_samples(flow, mask, policy)
+    assert samples.rows.size >= 1
+    assert all(c >= 5 for c in samples.cols.tolist())
+    pairs = set(zip(samples.rows.tolist(), samples.cols.tolist()))
+    assert (15, 15) in pairs
+
+
+def test_select_flow_samples_hysteresis_keeps_weaker_motion() -> None:
+    h, w = 30, 30
+    flow = np.zeros((h, w, 2), dtype=np.float64)
+    # |2*flow| = 0.7: below on (0.8) but above off (0.5)
+    flow[15, 15] = (0.35, 0.0)
+    policy = VisualPolicy(
+        flow_on_px=0.8,
+        flow_off_px=0.5,
+        flow_grid_spacing=10,
+        flow_edge_margin=0,
+    )
+    previously = np.zeros((h, w), dtype=bool)
+    previously[15, 15] = True
+    off = select_flow_samples(flow, None, policy, previously_on=None)
+    on = select_flow_samples(flow, None, policy, previously_on=previously)
+    assert off.rows.size == 0
+    assert on.rows.size == 1
+
+
+def test_paint_domain_background_colours() -> None:
+    mask = np.zeros((4, 4), dtype=bool)
+    mask[1:3, 1:3] = True
+    canvas = paint_domain_background(
+        (4, 4), mask, island_bgr=(10, 20, 30), exterior_bgr=(1, 2, 3)
+    )
+    assert tuple(canvas[0, 0]) == (1, 2, 3)
+    assert tuple(canvas[1, 1]) == (10, 20, 30)