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https://github.com/azaion/gps-denied-onboard.git
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[AZ-959] replay_api: POST /replay (video,csv) + /static/example-csv
Extend the AZ-701 replay_api POST /replay endpoint so AZ-897 (now in ../ui repo) can drive the AZ-894 CSV-replay path. The endpoint keeps full back-compat for tlog clients and adds: - (video, tlog) OR (video, csv) multipart with strict XOR enforced at the API boundary (AC-2 / AC-3 → 400 multipart_missing_field) - validate_csv_kind: rejects malformed CSV schema at boundary by scanning the header line for AZ-896 required tokens; messages point at csv_replay_format.md (AC-4) - ReplayInputs DTO: tlog_path / csv_path are now Path | None with XOR re-enforced in __post_init__ for internal callers - JobStorage reserves both input.tlog and input.csv paths; handler writes exactly one - SubprocessReplayRunner.run dispatches --imu vs --tlog argv (AC-1) - _maybe_render_report dispatches load_csv_ground_truth vs load_tlog_ground_truth; CsvGpsFix and TlogGpsFix have field-compatible shapes for the GroundTruthRow adapter (AC-6) - GET /static/example-csv serves the AZ-896 reference CSV; honours REPLAY_API_EXAMPLE_CSV_PATH env, falls back to source-checkout layout, returns 503 with example_csv_unavailable when neither resolves to a readable file. No auth required (AC-5) Tests: 27/27 unit tests green: - 18 pre-existing tlog-path tests unchanged (AC-7) - 9 new tests covering ACs 1-6 + validate_csv_kind isolation Deferred (NOT silently fixed; reported to user as end-of-turn notes for scope discipline): - gps-denied-render-map only consumes binary tlog truth today, so CSV-path jobs return map_html_url=None. Extending render-map to dispatch on truth-file extension is AZ-700 follow-up territory. - ReportContext.tlog_path field is now overloaded as the "ground-truth source path"; the rendered report still labels the line "Tlog: <csv_path>" which is cosmetically misleading for CSV runs. Field rename + label fix is AZ-699 follow-up. Bookkeeping: AZ-959 spec moved todo/ → done/, dep-table preamble fifth bump documents what landed + what's deferred, state.md records batch 5 complete and what comes next. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -38,6 +38,7 @@ from gps_denied_onboard.replay_api import (
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create_app,
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)
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from gps_denied_onboard.replay_api.handlers import (
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validate_csv_kind,
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validate_tlog_kind,
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validate_video_kind,
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)
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@@ -107,6 +108,30 @@ def _valid_calibration_bytes() -> bytes:
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return b'{"focal_length": 1, "acquisition_method": "factory-sheet"}'
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def _valid_csv_bytes() -> bytes:
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"""Minimal AZ-896-schema CSV with 2 data rows.
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Header tokens match
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``_docs/02_document/contracts/replay/csv_replay_format.md``.
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Values are minimal-but-valid; the API-boundary validator only
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checks the header, the per-row checks live in
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``csv_ground_truth.py`` and aren't exercised by the multipart
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handler.
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"""
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header = (
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"timestamp(ms),Time,"
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"SCALED_IMU2.xacc,SCALED_IMU2.yacc,SCALED_IMU2.zacc,"
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"SCALED_IMU2.xgyro,SCALED_IMU2.ygyro,SCALED_IMU2.zgyro,"
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"GLOBAL_POSITION_INT.lat,GLOBAL_POSITION_INT.lon,"
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"GLOBAL_POSITION_INT.alt,GLOBAL_POSITION_INT.vx,"
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"GLOBAL_POSITION_INT.vy,GLOBAL_POSITION_INT.vz,"
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"GLOBAL_POSITION_INT.hdg"
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)
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row1 = "0,0.0,21,-3,-984,52,32,-5,50.0809634,36.1115442,141290,0,0,0,35041"
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row2 = "100,0.1,-68,-9,-995,58,-17,1,50.0809634,36.1115441,141360,0,0,0,35042"
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return f"{header}\n{row1}\n{row2}\n".encode("utf-8")
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@pytest.fixture(autouse=True)
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def _disable_auth_by_default(monkeypatch: pytest.MonkeyPatch) -> Iterator[None]:
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monkeypatch.setenv("REPLAY_API_AUTH_REQUIRED", "false")
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@@ -630,6 +655,254 @@ def test_post_replay_rejects_misnamed_zip_as_video(
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assert response.json()["error_code"] == "unsupported_file_kind"
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# ---------------------------------------------------------------------
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# AZ-959 — CSV-path multipart + XOR validation + /static/example-csv
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def test_validate_csv_kind_accepts_az896_header() -> None:
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# Act / Assert — must not raise on the canonical header
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validate_csv_kind(_valid_csv_bytes()[:512])
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def test_validate_csv_kind_rejects_header_missing_time_column() -> None:
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# Arrange — drop the Time column from an otherwise-valid header
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bogus = (
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b"timestamp(ms),"
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b"SCALED_IMU2.xacc,SCALED_IMU2.yacc,SCALED_IMU2.zacc,"
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b"SCALED_IMU2.xgyro,SCALED_IMU2.ygyro,SCALED_IMU2.zgyro,"
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b"GLOBAL_POSITION_INT.lat,GLOBAL_POSITION_INT.lon\n"
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b"0,0,0,0,0,0,0,0,0\n"
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)
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# Act / Assert
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with pytest.raises(Exception) as exc:
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validate_csv_kind(bogus)
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assert "Time" in str(exc.value)
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assert "csv_replay_format.md" in str(exc.value)
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def test_post_replay_csv_path_returns_200_and_dispatches_imu_flag(
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fake_runner: _FakeRunner,
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make_app: Any,
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) -> None:
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# Arrange — AC-1
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app = make_app(fake_runner)
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client = TestClient(app)
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# Act
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response = client.post(
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"/replay",
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files={
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"csv": ("data_imu.csv", _valid_csv_bytes(), "text/csv"),
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"video": ("derkachi.mp4", _valid_mp4_bytes(), "video/mp4"),
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"calibration": (
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"k.json",
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_valid_calibration_bytes(),
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"application/json",
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),
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},
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data={"pace": "asap"},
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)
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# Assert
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assert response.status_code == 200, response.text
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body = response.json()
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assert body["state"] == JobState.DONE.value
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assert body["sync"] is True
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# Runner saw the csv_path branch (tlog_path is None for csv jobs)
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assert len(fake_runner.calls) == 1
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inputs = fake_runner.calls[0]
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assert inputs.tlog_path is None
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assert inputs.csv_path is not None
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assert inputs.csv_path.is_file()
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assert inputs.csv_path.read_bytes() == _valid_csv_bytes()
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def test_post_replay_rejects_both_tlog_and_csv(
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fake_runner: _FakeRunner,
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make_app: Any,
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) -> None:
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# Arrange — AC-2
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client = TestClient(make_app(fake_runner))
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# Act
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response = client.post(
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"/replay",
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files={
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"tlog": ("d.tlog", _valid_tlog_bytes(), "application/octet-stream"),
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"csv": ("d.csv", _valid_csv_bytes(), "text/csv"),
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"video": ("d.mp4", _valid_mp4_bytes(), "video/mp4"),
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"calibration": ("k.json", _valid_calibration_bytes(), "application/json"),
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},
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)
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# Assert
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assert response.status_code == 400
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body = response.json()
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assert body["error_code"] == "multipart_missing_field"
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assert "exactly one" in body["message"].lower()
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def test_post_replay_rejects_neither_tlog_nor_csv(
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fake_runner: _FakeRunner,
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make_app: Any,
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) -> None:
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# Arrange — AC-3
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client = TestClient(make_app(fake_runner))
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# Act
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response = client.post(
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"/replay",
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files={
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"video": ("d.mp4", _valid_mp4_bytes(), "video/mp4"),
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"calibration": ("k.json", _valid_calibration_bytes(), "application/json"),
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},
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)
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# Assert
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assert response.status_code == 400
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body = response.json()
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assert body["error_code"] == "multipart_missing_field"
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assert "exactly one" in body["message"].lower()
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def test_post_replay_rejects_malformed_csv_at_api_boundary(
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fake_runner: _FakeRunner,
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make_app: Any,
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) -> None:
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# Arrange — AC-4: CSV header missing the Time column
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bogus_csv = (
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b"timestamp(ms),"
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b"SCALED_IMU2.xacc,SCALED_IMU2.yacc,SCALED_IMU2.zacc,"
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b"SCALED_IMU2.xgyro,SCALED_IMU2.ygyro,SCALED_IMU2.zgyro,"
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b"GLOBAL_POSITION_INT.lat,GLOBAL_POSITION_INT.lon\n"
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b"0,0,0,0,0,0,0,0,0\n"
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)
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client = TestClient(make_app(fake_runner))
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# Act
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response = client.post(
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"/replay",
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files={
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"csv": ("bad.csv", bogus_csv, "text/csv"),
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"video": ("d.mp4", _valid_mp4_bytes(), "video/mp4"),
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"calibration": ("k.json", _valid_calibration_bytes(), "application/json"),
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},
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)
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# Assert
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assert response.status_code == 400
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body = response.json()
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assert body["error_code"] == "unsupported_file_kind"
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assert "csv_replay_format.md" in body["message"]
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def test_static_example_csv_serves_canonical_doc_file(
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fake_runner: _FakeRunner,
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make_app: Any,
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) -> None:
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# Arrange — AC-5: endpoint serves the source-tree CSV bytes
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from gps_denied_onboard.replay_api.app import _example_csv_path
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canonical_path = _example_csv_path()
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if canonical_path is None:
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pytest.skip(
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"example CSV not on disk — running outside a source checkout"
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)
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client = TestClient(make_app(fake_runner))
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# Act
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response = client.get("/static/example-csv")
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# Assert
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assert response.status_code == 200
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assert response.headers["content-type"].startswith("text/csv")
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assert "charset=utf-8" in response.headers["content-type"]
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assert response.content == canonical_path.read_bytes()
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def test_static_example_csv_returns_503_when_path_misconfigured(
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monkeypatch: pytest.MonkeyPatch,
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fake_runner: _FakeRunner,
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make_app: Any,
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tmp_path: Path,
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) -> None:
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# Arrange — env var points at a path that does not exist;
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# we want to also stop the source-checkout fallback from finding
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# the canonical file. Easiest is to point the env var at a
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# bogus path: the helper short-circuits to that branch and
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# returns None without falling back.
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monkeypatch.setenv(
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"REPLAY_API_EXAMPLE_CSV_PATH", str(tmp_path / "nonexistent.csv")
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)
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client = TestClient(make_app(fake_runner))
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# Act
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response = client.get("/static/example-csv")
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# Assert
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assert response.status_code == 503
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body = response.json()
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assert body["error_code"] == "example_csv_unavailable"
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def test_subprocess_runner_renders_report_for_csv_ground_truth(
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tmp_path: Path,
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) -> None:
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# Arrange — AC-6: ground-truth dispatch through the SubprocessReplayRunner.
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# We call _maybe_render_report directly so the subprocess invocation
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# itself doesn't have to run (the input branch under test is the GT
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# loader, not the gps-denied-replay binary).
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from gps_denied_onboard.replay_api.app import (
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SubprocessReplayRunner,
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_example_csv_path,
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)
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csv_path = _example_csv_path()
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if csv_path is None:
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pytest.skip(
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"example CSV not on disk — running outside a source checkout"
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)
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runner = SubprocessReplayRunner()
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output_dir = tmp_path / "output"
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output_dir.mkdir()
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calibration_path = tmp_path / "calib.json"
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calibration_path.write_text(_valid_calibration_bytes().decode())
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video_path = tmp_path / "video.mp4"
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video_path.write_bytes(_valid_mp4_bytes())
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emissions_path = output_dir / "emissions.jsonl"
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emissions_path.write_text(
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json.dumps(
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{
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"frame_id": 0,
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"position_wgs84": {
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"lat_deg": 50.0809634,
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"lon_deg": 36.1115442,
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"alt_m": 141.290,
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},
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"emitted_at": 0,
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}
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)
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+ "\n"
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)
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inputs = ReplayInputs(
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csv_path=csv_path,
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video_path=video_path,
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calibration_path=calibration_path,
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)
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# Act
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report_path = runner._maybe_render_report(
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inputs, emissions_path, output_dir
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)
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# Assert
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assert report_path is not None
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assert report_path.is_file()
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text = report_path.read_text()
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assert "Verdict" in text or "verdict" in text.lower()
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# ---------------------------------------------------------------------
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# Helpers
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