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tests: cover RTC engine fixes and update action_queue discard-clamp expectations

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This commit is contained in:
Maxime Ellerbach
2026-07-22 16:43:24 +00:00
parent 15bc6e0a80
commit a19730768f
2 changed files with 154 additions and 3 deletions
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tests/policies/rtc/test_action_queue.py
+8 -3
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@@ -457,8 +457,9 @@ def test_merge_validates_delay_consistency(action_queue_rtc_enabled, sample_acti
action_index_before_inference=0,
)
# Check warning was logged
assert "Indexes diff is not equal to real delay" in caplog.text
# Check warning was logged (reworded when the discard clamp was added)
assert "Indexes diff != real delay" in caplog.text
assert "clamping discard" in caplog.text
def test_merge_no_warning_when_delays_match(action_queue_rtc_enabled, sample_actions, caplog):
@@ -790,8 +791,12 @@ def test_typical_rtc_workflow(action_queue_rtc_enabled, sample_actions):
assert action_queue_rtc_enabled.qsize() == 40
# Second inference with delay
# Second inference with delay. Capture the index at inference *start*, then consume
# `real_delay` actions to simulate the robot executing during inference, so the
# measured `indexes_diff` matches `real_delay` and the discard clamp is a no-op.
action_index_before = action_queue_rtc_enabled.get_action_index()
for _ in range(5):
action_queue_rtc_enabled.get()
action_queue_rtc_enabled.merge(
sample_actions["original"],