test(e2e): add DatasetAdapter base interface + capability dataclass

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

src/gps_denied/testing/datasets/base.py

@@ -0,0 +1,74 @@
+"""DatasetAdapter — uniform interface for e2e harness over arbitrary UAV datasets."""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+from enum import Enum
+from typing import Iterator
+
+
+class PlatformClass(str, Enum):
+    FIXED_WING = "fixed_wing"
+    ROTARY = "rotary"
+    INDOOR = "indoor"
+    SYNTHETIC = "synthetic"
+
+
+class DatasetNotAvailableError(RuntimeError):
+    """Raised when a dataset's expected files are missing. Tests should skip, not fail."""
+
+
+@dataclass(frozen=True)
+class DatasetCapabilities:
+    has_raw_imu: bool
+    has_rtk_gt: bool
+    has_loop_closures: bool
+    platform_class: PlatformClass
+
+
+@dataclass(frozen=True)
+class DatasetFrame:
+    frame_idx: int
+    timestamp_ns: int
+    image_path: str
+
+
+@dataclass(frozen=True)
+class DatasetIMU:
+    timestamp_ns: int
+    accel: tuple[float, float, float]  # m/s^2 in body frame
+    gyro: tuple[float, float, float]   # rad/s in body frame
+
+
+@dataclass(frozen=True)
+class DatasetPose:
+    timestamp_ns: int
+    lat: float
+    lon: float
+    alt: float
+    qx: float
+    qy: float
+    qz: float
+    qw: float
+
+
+class DatasetAdapter(ABC):
+    """Uniform read-only iteration over a UAV dataset."""
+
+    @property
+    @abstractmethod
+    def name(self) -> str: ...
+
+    @property
+    @abstractmethod
+    def capabilities(self) -> DatasetCapabilities: ...
+
+    @abstractmethod
+    def iter_frames(self) -> Iterator[DatasetFrame]: ...
+
+    @abstractmethod
+    def iter_imu(self) -> Iterator[DatasetIMU]: ...
+
+    @abstractmethod
+    def iter_ground_truth(self) -> Iterator[DatasetPose]: ...

tests/e2e/test_dataset_base.py

@@ -0,0 +1,63 @@
+"""Tests for DatasetAdapter base contract."""
+
+import pytest
+
+from gps_denied.testing.datasets.base import (
+    DatasetAdapter,
+    DatasetCapabilities,
+    DatasetFrame,
+    DatasetIMU,
+    DatasetPose,
+    DatasetNotAvailableError,
+    PlatformClass,
+)
+
+
+def test_capabilities_defaults():
+    cap = DatasetCapabilities(
+        has_raw_imu=False,
+        has_rtk_gt=False,
+        has_loop_closures=False,
+        platform_class=PlatformClass.FIXED_WING,
+    )
+    assert cap.has_raw_imu is False
+    assert cap.platform_class == PlatformClass.FIXED_WING
+
+
+def test_adapter_is_abstract():
+    with pytest.raises(TypeError):
+        DatasetAdapter()  # type: ignore[abstract]
+
+
+def test_dataset_not_available_error_is_exception():
+    assert issubclass(DatasetNotAvailableError, Exception)
+
+
+def test_dataset_frame_dataclass_fields():
+    frame = DatasetFrame(
+        frame_idx=0,
+        timestamp_ns=1_000_000_000,
+        image_path="/tmp/x.jpg",
+    )
+    assert frame.frame_idx == 0
+    assert frame.timestamp_ns == 1_000_000_000
+
+
+def test_dataset_imu_dataclass_fields():
+    imu = DatasetIMU(
+        timestamp_ns=1_000_000_000,
+        accel=(0.0, 0.0, -9.81),
+        gyro=(0.0, 0.0, 0.0),
+    )
+    assert imu.accel == (0.0, 0.0, -9.81)
+
+
+def test_dataset_pose_dataclass_fields():
+    pose = DatasetPose(
+        timestamp_ns=1_000_000_000,
+        lat=49.0,
+        lon=32.0,
+        alt=100.0,
+        qx=0.0, qy=0.0, qz=0.0, qw=1.0,
+    )
+    assert pose.lat == 49.0