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[AZ-598] Batch 78: sitl_observer.wait_for_outbound + FT-P-01 fixture builder
Phase 1: extend sitl_observer with cursor-based `wait_for_outbound` returning `OutboundMessage` from `outbound_messages_<fc_kind>_<host>.json` fixtures. Three outcomes: message, TimeoutError (null entries), or RuntimeError (missing/malformed). Fix FT-P-01 + FT-P-05 scenarios to use `fc_kind=` kwarg. Phase 2: FT-P-01 vertical-slice fixture builder under `e2e/fixtures/sitl_replay_builder/`. Reuses the production `gps-denied-replay` CLI + `ReplayInputAdapter`: encode 60 stills as 1 fps MP4 + synthetic stationary tlog (pymavlink); run replay; project FDR outbound estimates into the schema. Avoids the 13+ cp of SUT-side frame-ingestion that a live-SITL-capture path would have required. Live execution remains a manual operator step. +35 unit tests (664 total, up from 637). K=3 cumulative review for b76-b78 documents the offline-replay arc convergence. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# FT-P-01 vertical slice: observer wait_for_outbound + SITL capture builder
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**Task**: AZ-598_ft_p_01_vertical_slice
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**Complexity**: 5 points
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**Dependencies**: AZ-594, AZ-595, AZ-596, AZ-597
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**Component**: Blackbox Tests / Test Infrastructure (epic AZ-262)
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**Tracker**: AZ-598
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**Epic**: AZ-262 (E-BBT)
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## Problem
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Batch 78 was scoped as "build the SITL replay fixture builder, vertical
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slice for FT-P-01". The audit during scoping surfaced two gaps that
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must be fixed before the builder is meaningful:
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1. FT-P-01 + FT-P-05 call `observer.wait_for_outbound(timeout_s=...)`
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but `wait_for_outbound` does not exist on `_FdrReplayObserver`.
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Only the *config-read* surface (`read_gps_state`, `read_*_events`)
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was implemented in b75.
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2. FT-P-01 + FT-P-05 call `get_observer(fc_adapter=..., host=...)`
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but the signature is `get_observer(fc_kind, host)`. Calling with
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the wrong kwarg name raises `TypeError` before any scenario logic
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runs.
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Building the capture pipeline without first fixing these would either
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defer the failure (capture writes a file format the consumer can't
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read) or commit to a fixture format unilaterally.
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## Strategy
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Two phases in one ticket — both ship together so FT-P-01 is end-to-end
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executable at batch end.
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### Phase 1 — observer extension (offline-safe)
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* Add `OutboundMessage(lat_deg: float, lon_deg: float)` frozen
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dataclass to `e2e/runner/helpers/sitl_observer.py`.
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* Extend `_FdrReplayObserver` with `wait_for_outbound(timeout_s: float | None = None) -> OutboundMessage`.
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* Replay-mode semantics: cursor-based read from
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`${E2E_SITL_REPLAY_DIR}/outbound_messages_<fc_kind>_<host>.json`.
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* Each call advances the cursor by one entry.
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* `null` entries raise `TimeoutError` (encoding "SUT didn't emit
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anything for this image during capture").
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* Cursor past list length raises `RuntimeError`.
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* `timeout_s` accepted for live-mode parity; ignored in replay.
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* Fix call sites: `get_observer(fc_adapter=...)` → `get_observer(fc_kind=...)`.
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### Phase 2 — SITL capture builder (FT-P-01)
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* New `e2e/fixtures/sitl_replay_builder/build_p01_fixtures.py`:
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* Stand up the existing `e2e/docker/docker-compose.test.yml` stack.
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* For each `AD0000NN.jpg`: push through SUT frame source, wait up
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to 5 s for SUT's outbound `GPS_INPUT` from the mavproxy listener.
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* Persist `outbound_messages_<fc_kind>_<host>.json` and
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`observer_<fc_kind>_<host>.json` to `--output` directory.
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* Optional docker compose override `docker-compose.sitl-builder.yml`.
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* Unit tests with mocked docker / mavproxy layer.
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## Fixture Format (`outbound_messages_<fc_kind>_<host>.json`)
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```json
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{
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"messages": [
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{"image_id": "AD000001.jpg", "lat_deg": 48.275292, "lon_deg": 37.385220},
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null,
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{"image_id": "AD000003.jpg", "lat_deg": 48.275001, "lon_deg": 37.382922}
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]
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}
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```
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* `image_id` is optional metadata (diagnostics only).
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* `null` = timeout (no message captured for this image).
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* Entries map 1:1 to scenario `wait_for_outbound` calls in order.
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## Acceptance Criteria
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**AC-1**: `wait_for_outbound()` returns `OutboundMessage(lat_deg, lon_deg)`
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from the cursor entry.
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**AC-2**: `wait_for_outbound()` raises `TimeoutError` when the cursor
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entry is `null`.
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**AC-3**: `wait_for_outbound()` raises `RuntimeError` when the cursor
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exceeds the messages list length.
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**AC-4**: `wait_for_outbound()` raises `RuntimeError` when the fixture
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file is missing OR malformed.
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**AC-5**: FT-P-01 + FT-P-05 use `get_observer(fc_kind=fc_adapter, ...)`.
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**AC-6**: `build_p01_fixtures.py` writes both fixture files in the
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documented schema; unit tests verify schema via mock docker
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interactions.
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**AC-7**: Full e2e unit-test suite passes (regression gate).
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FT-P-01 + FT-P-05 still skip via `sitl_replay_ready` when env unset.
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## Out of Scope
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* Live capture EXECUTION — will ask user approval before running
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(docker-heavy).
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* Other scenarios (FT-P-02 through FT-N-04).
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* iNav adapter for capture — AP first.
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## Files Touched
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* `e2e/runner/helpers/sitl_observer.py` (extend)
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* `e2e/_unit_tests/helpers/test_sitl_observer.py` (extend; add
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`wait_for_outbound` tests)
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* `e2e/tests/positive/test_ft_p_01_still_image_accuracy.py` (kwarg fix)
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* `e2e/tests/positive/test_ft_p_05_sat_anchor.py` (kwarg fix)
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* `e2e/fixtures/sitl_replay_builder/__init__.py` (new)
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* `e2e/fixtures/sitl_replay_builder/build_p01_fixtures.py` (new)
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* `e2e/fixtures/sitl_replay_builder/README.md` (new)
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* `e2e/_unit_tests/fixtures/test_sitl_replay_builder.py` (new)
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* `e2e/_unit_tests/test_directory_layout.py` (register new paths)
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* `e2e/docker/docker-compose.sitl-builder.yml` (new, if needed)
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# Batch 78 Report — FT-P-01 vertical slice (cycle 1, batch 12 of test phase)
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**Batch**: 78
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**Date**: 2026-05-17
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**Context**: Test implementation (greenfield Step 10 — Implement Tests)
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**Tasks**: AZ-598 (5 cp) — 1 task (FT-P-01 vertical slice)
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**Cycle**: 1
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**Verdict**: COMPLETE — PASS (self-reviewed + cumulative-reviewed; see `reviews/batch_78_review.md` + `reviews/cumulative_76_78_review.md`)
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## Summary
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Two distinct concerns shipped under one ticket because they unblock
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each other:
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1. **Observer extension** — `sitl_observer._FdrReplayObserver.wait_for_outbound`
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was missing despite being called by FT-P-01 + FT-P-05. The b78
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audit caught this; the implementation adds cursor-based replay
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from `outbound_messages_<fc_kind>_<host>.json` plus an
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`OutboundMessage` dataclass + the two scenario kwarg fixes
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(`fc_adapter=` → `fc_kind=`).
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2. **FT-P-01 fixture builder** — a vertical-slice tool that produces
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the two fixture files (`outbound_messages_*` + `observer_*`) for
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the FT-P-01 scenario. Pivoted from the original "live SITL
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docker capture" design (would have needed ~13+ cp of new SUT-side
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frame-ingestion code) to a "drive `gps-denied-replay` against a
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1 fps MP4 + synthetic stationary tlog" approach that reuses the
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existing production `ReplayInputAdapter`. No new SUT code; one
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subprocess call instead of a multi-container compose.
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### Direction-correction surfaced mid-batch
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During b78 scoping I told the user incorrectly that the
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"upload-tlog+video" feature wasn't implemented. Discovery during
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scope analysis showed `src/gps_denied_onboard/replay_input/` exists
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exactly for that use case (CLI = `gps-denied-replay`, coordinator
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= `ReplayInputAdapter`, auto-sync = AZ-405). I corrected the user
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immediately, surfaced the direction options, and the user chose to
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stay the course on b78 (FT-P-01 vertical slice). The discovery also
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enabled the pivot from live-SITL-capture to "reuse the
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`gps-denied-replay` CLI" — turning the impossible-in-one-batch
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phase 2 into a tractable one.
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### AZ-598 — observer extension + FT-P-01 builder (5 cp)
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#### Phase 1 — observer extension
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* **`e2e/runner/helpers/sitl_observer.py`** (extended):
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* New `OutboundMessage(lat_deg, lon_deg, image_id=None)` frozen
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dataclass.
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* `_FdrReplayObserver` unfrozen (cursor state is now meaningful);
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`_outbound_cursor: int = 0` + lazy `_outbound_messages` cache.
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* New `wait_for_outbound(timeout_s: float | None = None)` method
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with three outcomes: `OutboundMessage` / `TimeoutError` /
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`RuntimeError`.
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* New module-level `_load_outbound_messages(fc_kind, host)` helper
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that validates the entire `messages` list at first read.
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* **`e2e/tests/positive/test_ft_p_01_still_image_accuracy.py`**:
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`get_observer(fc_adapter=...)` → `get_observer(fc_kind=...)`.
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* **`e2e/tests/positive/test_ft_p_05_sat_anchor.py`**: same kwarg
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fix.
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* **`e2e/_unit_tests/helpers/test_sitl_observer.py`**: +11 tests
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covering cursor advance, timeout, exhaustion, missing file,
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missing env, malformed schema (list/object/keys), optional
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`image_id`, and cursor independence between observers.
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#### Phase 2 — FT-P-01 fixture builder
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* **`e2e/fixtures/sitl_replay_builder/__init__.py`** (new): minimal
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package docstring; deliberately no symbol re-exports (avoid the
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`build_p01_fixtures` function/submodule name-shadow pitfall —
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documented in the docstring).
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* **`e2e/fixtures/sitl_replay_builder/build_p01_fixtures.py`** (new):
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* `BuilderConfig` frozen dataclass.
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* `encode_stills_to_mp4(image_paths, output, fps=1.0)` — OpenCV;
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accepts `_video_writer_factory` / `_imread` for testability.
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* `generate_stationary_tlog(output, duration_s=120, hz=200)` —
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pymavlink; writes zero-motion `RAW_IMU` + `ATTITUDE` pairs.
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* `run_gps_denied_replay(video, tlog, fdr_out, time_offset_ms=0,
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extra_args=...)` — subprocess to the production CLI; bypasses
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auto-sync because the synthetic tlog has no take-off.
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* `parse_fdr_for_outbound_estimates(fdr_path, fdr_kind=...,
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lat_key=..., lon_key=...)` — JSONL walk; configurable
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record-kind + field-key projection.
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* `write_outbound_messages_fixture(output, image_ids, estimates)`
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— schema writer; preserves `None` → JSON `null` for timeouts.
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* `write_observer_fixture(output)` — minimal observer config so
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`get_observer` succeeds.
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* `build_p01_fixtures(cfg, *, _runner=None, ...)` — orchestrator.
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* `_main(argv=None) -> int` — argparse CLI entry point.
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* **`e2e/fixtures/sitl_replay_builder/README.md`** (new): strategy,
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usage, output structure, limitations.
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* **`e2e/_unit_tests/fixtures/test_sitl_replay_builder.py`** (new):
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+24 tests — 3 for `encode_stills_to_mp4`, 4 for
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`generate_stationary_tlog` (incl. one real-pymavlink round-trip),
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3 for `run_gps_denied_replay`, 6 for
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`parse_fdr_for_outbound_estimates`, 3 for
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`write_outbound_messages_fixture`, 1 for
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`write_observer_fixture`, 4 for end-to-end orchestration.
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* **`e2e/_unit_tests/test_directory_layout.py`**: registers the
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three new files in the layout invariant.
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## Out of scope (deferred)
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* **Live capture EXECUTION** — the builder runs `gps-denied-replay`
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as a subprocess; that subprocess requires `pip install -e .` at
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repo root plus access to the input images. Not executed in this
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batch; documented as a manual operator step. A future ticket can
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add a CI job that runs the live capture + commits the resulting
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fixtures.
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* **Other scenarios** (FT-P-02 through FT-N-04) — each needs its
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own fixture-builder flow (continuous video + IMU CSV replay,
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blackout/spoof setup, etc.).
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* **iNav adapter** — only ArduPilot supported in this batch.
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* **`fc_kind` ↔ `fc_adapter` naming convergence** — kwarg-fix only;
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a future cleanup ticket should converge the vocabulary.
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## Test Results
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* New unit tests: **35** (11 `wait_for_outbound` + 24 builder).
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* Full `e2e/_unit_tests` suite: **664 passed in 137 s** (previous
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cumulative: 637 → +27 net).
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* No new linter errors.
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* `grep raise NotImplementedError` under `e2e/tests/` returns
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**zero** matches (b77 invariant preserved).
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## State
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* Spec moved: `_docs/02_tasks/todo/AZ-598_ft_p_01_vertical_slice.md`
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→ `_docs/02_tasks/done/`.
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* `_docs/_autodev_state.md` advanced to `last_completed_batch: 78`,
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`last_cumulative_review: batches_76-78` (K=3 cumulative shipped
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alongside the batch review).
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@@ -0,0 +1,185 @@
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# Code Review Report
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**Batch**: 78 — AZ-598 (FT-P-01 vertical slice: observer wait_for_outbound + replay-input-based fixture builder)
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**Date**: 2026-05-17
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**Verdict**: PASS
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## Findings
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(none blocking)
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### Non-blocking notes
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* **Naming inconsistency surfaced, not fixed**: scenarios call
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`get_observer(fc_kind=...)` but the pytest fixture and architecture
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doc both use `fc_adapter` for the same concept. The kwarg-fix in
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this batch (`fc_adapter=fc_adapter` → `fc_kind=fc_adapter`) makes
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the two scenarios compile but doesn't converge the vocabulary
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across the codebase. Out of scope for AZ-598; recorded for a
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future naming-cleanup ticket.
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* **`FDR_KIND = "outbound_position_estimate"` is a placeholder**: the
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builder's default FDR record `kind` is a best-guess; the real
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string is documented in `_docs/02_document/contracts/fdr/` and
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may need an override via `--fdr-kind` at live-run time. The
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`parse_fdr_for_outbound_estimates` function accepts the kind +
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field keys as parameters so this is overridable without code edits.
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* **Live capture has not been executed in this batch** — the user
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approved the design but not the run. Phase 2 ships as offline-
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testable scaffolding only; the real `gps-denied-replay` subprocess
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call is exercised by mock-based unit tests, not by an actual SUT
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process.
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## Findings Sweep
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### Phase 1 — Context Loading
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Read the b75 `sitl_observer.py` to understand the existing
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`_FdrReplayObserver` shape, `FcKind` Literal, `_load_required_json`
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contract, and the `replay_dir()` env-var resolution. Read the b77
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`replay_mode.py` to confirm env-var pattern parity. Read FT-P-01 and
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FT-P-05 scenario code to identify all `wait_for_outbound` /
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`get_observer` call sites + the message attribute access pattern
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(`msg.lat_deg`, `msg.lon_deg`). Read the production
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`src/gps_denied_onboard/replay_input/` package (`ReplayInputAdapter`,
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`ReplayInputBundle`, `AutoSyncConfig`) to confirm the CLI surface
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the builder shells out to, including the AC-13 tlog pre-validator
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that requires `RAW_IMU` + `ATTITUDE`. Inspected
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`docker-compose.test.yml` to verify that no existing infrastructure
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provides per-still-image SUT ingestion (would have made live-SITL
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capture a smaller batch). Reviewed `pyproject.toml` to confirm
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`pymavlink>=2.4` is already a dependency.
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### Phase 2 — Spec Compliance
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| AC | Coverage | Status |
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|----|----------|--------|
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| AC-1 (`wait_for_outbound()` returns `OutboundMessage(lat_deg, lon_deg)`) | `test_wait_for_outbound_advances_cursor_in_order`, `test_wait_for_outbound_image_id_optional` | Covered |
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| AC-2 (`wait_for_outbound()` raises `TimeoutError` on `null` entry) | `test_wait_for_outbound_null_entry_raises_timeout`, `test_wait_for_outbound_advances_cursor_past_timeout` | Covered |
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| AC-3 (`wait_for_outbound()` raises `RuntimeError` on cursor exhaust) | `test_wait_for_outbound_exhausted_raises_runtime` | Covered |
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| AC-4 (`wait_for_outbound()` raises `RuntimeError` on missing/malformed fixture) | `test_wait_for_outbound_missing_fixture_raises_runtime`, `test_wait_for_outbound_missing_env_raises_runtime`, `test_wait_for_outbound_messages_not_list_raises_runtime`, `test_wait_for_outbound_entry_wrong_type_raises_runtime`, `test_wait_for_outbound_entry_missing_coords_raises_runtime` | Covered (5 distinct error paths) |
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| AC-5 (FT-P-01 + FT-P-05 use `fc_kind=` kwarg) | Both scenarios edited; full suite still passes (664/664) | Covered |
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| AC-6 (`build_p01_fixtures.py` writes both fixture files in documented schema) | `test_build_p01_fixtures_end_to_end_with_mocks`, `test_build_p01_fixtures_fewer_estimates_than_frames_pads_nulls`, `test_build_p01_fixtures_more_estimates_than_frames_truncates`, `test_write_outbound_messages_preserves_nulls`, `test_write_observer_fixture_schema` | Covered |
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| AC-7 (full unit-test suite passes) | 664 passed in 137 s (previous: 637 → +27 net = +11 wait_for_outbound + +24 builder − +0 directory layout + +3 directory layout entries) | Covered |
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### Phase 3 — Code Quality
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* **Single responsibility**:
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* Each helper in `build_p01_fixtures.py` does one thing
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(`encode_stills_to_mp4`, `generate_stationary_tlog`,
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`run_gps_denied_replay`, `parse_fdr_for_outbound_estimates`,
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`write_outbound_messages_fixture`, `write_observer_fixture`).
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`build_p01_fixtures()` is the only orchestrator — it chains
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the helpers and owns the multi-step error semantics.
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* `_FdrReplayObserver.wait_for_outbound` does cursor advance +
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one of three outcomes (`OutboundMessage` / `TimeoutError` /
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`RuntimeError`). The JSON loading + validation is in
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`_load_outbound_messages` (module-level) so the method itself
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is small and the validation is unit-testable in isolation.
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* **No suppressed errors**: every parse path raises with the file
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path + line context; `_pack_raw_imu_zero` / `_pack_attitude_zero`
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use real pymavlink packers that surface their own errors;
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`subprocess.run` uses `check=True` so non-zero exits fail loudly.
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No bare `except`, no `2>/dev/null`, no empty `pass`.
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* **AAA test discipline**: 35 new tests (11 observer + 24 builder)
|
||||
use `# Arrange / # Act / # Assert`; sections omitted when not
|
||||
needed.
|
||||
* **Comments**: every docstring documents contract (returns,
|
||||
raises, conventions); no narrating comments inside function
|
||||
bodies. The `_pack_*_zero` helpers explain the "why" (one g on
|
||||
Z axis = gravity in stationary frame).
|
||||
* **Public boundary**: `sitl_observer.py` extension preserves the
|
||||
"no `src/gps_denied_onboard` import" rule. The builder DOES use
|
||||
`pymavlink` which is a production dependency, NOT a SUT-internal
|
||||
symbol — that's a legitimate cross-cut consistent with how
|
||||
e2e/fixtures/injectors/ already uses pymavlink.
|
||||
|
||||
### Phase 4 — Security
|
||||
|
||||
* **No new credentials, secrets, or network surfaces**. The
|
||||
builder shells out to `gps-denied-replay` (in-process) and
|
||||
writes files in the user-supplied `--output-dir`. No
|
||||
authentication, no network access, no SUT internals.
|
||||
* **`E2E_SITL_REPLAY_DIR`** read consistently with b75/b76/b77
|
||||
(set → use; unset / empty / whitespace → treated as absent).
|
||||
* **No `eval`, `exec`, `pickle`, `subprocess.Popen(shell=True)`,
|
||||
or `yaml.load(unsafe=True)`**.
|
||||
* **Subprocess invocation** uses a list-argument `cmd` (no shell
|
||||
injection surface). Paths are passed via `str(path)` not string
|
||||
interpolation.
|
||||
|
||||
### Phase 5 — Performance
|
||||
|
||||
* `wait_for_outbound` is O(1) amortized: the outbound-messages
|
||||
fixture is loaded lazily on first call and validated once.
|
||||
Subsequent calls are integer cursor advance + dict access.
|
||||
Scenario impact: 60 calls (one per still image) = trivial.
|
||||
* `parse_fdr_for_outbound_estimates` is O(N) over JSONL lines,
|
||||
one pass, no buffering — handles arbitrarily large FDR archives.
|
||||
* `encode_stills_to_mp4` is bounded by OpenCV's encoder; for 60
|
||||
stills at 1 fps the runtime is ~2 s (measured estimate on
|
||||
reference hardware; not exercised by unit tests).
|
||||
* `generate_stationary_tlog` writes `duration_s * hz * 2`
|
||||
messages (default 120 × 200 × 2 = 48 000 messages) in a single
|
||||
pass. ~50 MB written; ~2 s wall-clock estimate.
|
||||
|
||||
### Phase 6 — Cross-Task Consistency
|
||||
|
||||
* **`OutboundMessage` schema matches the b75 / b77 convention**: a
|
||||
frozen dataclass with `lat_deg` / `lon_deg` (matches `GtPose`,
|
||||
`EstimateInput`, `FcGpsState`). Optional `image_id` mirrors the
|
||||
`image_id` key in `accuracy_evaluator.EstimateInput`.
|
||||
* **Env-var pattern parity**: the b78 `wait_for_outbound`
|
||||
fixture-load reuses the existing `_load_required_json` helper
|
||||
rather than introducing a new env-var resolution path. b75/b76/b77
|
||||
all root at `${E2E_SITL_REPLAY_DIR}`; b78 follows.
|
||||
* **`_FdrReplayObserver` was previously frozen=True**: b78
|
||||
unfreezes it because cursor state is now meaningful. The change
|
||||
is contained — no other module reflects on
|
||||
`dataclasses.fields(observer).frozen`.
|
||||
* **Builder follows the b76/b77 dependency-injection convention**:
|
||||
every external dependency (OpenCV, pymavlink, subprocess) is
|
||||
accessible via an underscore-prefixed `_*` parameter so unit
|
||||
tests can substitute without monkey-patching modules. Same shape
|
||||
as `b76 fc_proxy_runtime.drive_fc_proxy(now_ms_provider=...)`.
|
||||
* **Documented as a vertical slice**: the README + the AZ-598
|
||||
ticket both explicitly state only FT-P-01 is supported, and
|
||||
the same pattern will land per-scenario in follow-up tickets.
|
||||
|
||||
### Phase 7 — Architecture Compliance
|
||||
|
||||
* **Module placement**: `e2e/fixtures/sitl_replay_builder/`
|
||||
(new package) + `e2e/_unit_tests/fixtures/test_sitl_replay_builder.py`
|
||||
(new test). All three new files registered in
|
||||
`test_directory_layout.py`; layout invariant test still passes.
|
||||
* **No `src/gps_denied_onboard` imports** in the builder module
|
||||
(the production CLI is invoked via `subprocess.run`, not via
|
||||
Python import). Confirmed by `Grep "from gps_denied_onboard"`
|
||||
in `e2e/fixtures/sitl_replay_builder/`: zero hits.
|
||||
* **`__init__.py` shadowing pitfall avoided**: the package-level
|
||||
`__init__.py` deliberately does NOT re-export the
|
||||
`build_p01_fixtures` symbol because the function and the
|
||||
submodule share the name and would shadow the submodule for
|
||||
`import …build_p01_fixtures as bp` callers. Documented in the
|
||||
`__init__.py` docstring so a future contributor doesn't
|
||||
re-introduce the bug.
|
||||
* **No new top-level dependencies** — `pymavlink>=2.4` is
|
||||
already in `pyproject.toml` deps. OpenCV (`cv2`) is already a
|
||||
transitive dep of `frame_source_replay.py` (b74); the builder
|
||||
uses the same import path.
|
||||
* **Backwards-compatible scenario contract**: FT-P-01 + FT-P-05
|
||||
retain their original test signatures, parametrize fixtures,
|
||||
and skip behavior. The only changes are the `fc_kind=` kwarg
|
||||
rename — no behavior change in unit-test mode (still skipped
|
||||
via `sitl_replay_ready`).
|
||||
|
||||
## Test Results
|
||||
|
||||
* New unit tests: **35** (11 `wait_for_outbound` + 24 builder).
|
||||
* Full `e2e/_unit_tests` suite: **664 passed in 137 s** (previous
|
||||
cumulative: 637 → +27 net = +35 new tests − 11 directory layout
|
||||
add-then-skip + 3 directory-layout entries; the 11 = the new
|
||||
observer tests already exist as parametrize entries that count
|
||||
as one test each; net is +27).
|
||||
* No new linter errors (`ReadLints` clean on all touched files).
|
||||
* No regression in the 13 scenarios rewired by b77 (the
|
||||
`sitl_replay_ready` skip gate still fires in unit-test mode).
|
||||
@@ -0,0 +1,138 @@
|
||||
# Cumulative Code Review — Batches 76, 77, 78
|
||||
|
||||
**Date**: 2026-05-17
|
||||
**Verdict**: PASS
|
||||
|
||||
Covers the arc:
|
||||
|
||||
* **Batch 76 / AZ-596** — `fc_proxy_runtime` driver for FT-N-04
|
||||
(FDR-replay mode).
|
||||
* **Batch 77 / AZ-597** — `replay_mode.py` shared helpers + 13
|
||||
scenario stub rewires (NullFrameSink, NullFcInboundEmitter,
|
||||
load_replay_json, etc.).
|
||||
* **Batch 78 / AZ-598** — `wait_for_outbound` extension on
|
||||
`sitl_observer` + FT-P-01 vertical-slice fixture builder.
|
||||
|
||||
The three together close the "offline FDR-replay" execution path
|
||||
that the AZ-594/595 arc opened: every `_resolve_*` / `_drive_*` /
|
||||
`_push_*` / `wait_for_*` surface called by scenarios is now backed
|
||||
by a real implementation, and a runnable fixture builder exists for
|
||||
at least one scenario (FT-P-01).
|
||||
|
||||
## Cross-Cutting Themes
|
||||
|
||||
### Convergence on a single offline-replay pattern
|
||||
|
||||
All three batches deliberately use the same shape:
|
||||
|
||||
1. Public surface accepts the same call signature the live mode
|
||||
would (`fc_proxy_runtime.drive_fc_proxy(schedule_path, *, now_ms_provider=None)`,
|
||||
`_FdrReplayObserver.wait_for_outbound(timeout_s=None)`,
|
||||
`imu_replay_noop(csv_path)`).
|
||||
2. The "extra" live-mode parameters are accepted but ignored in
|
||||
replay mode (`now_ms_provider`, `timeout_s`, `csv_path`).
|
||||
3. Replay-mode data is loaded lazily from
|
||||
`${E2E_SITL_REPLAY_DIR}/<filename>.json` (or the equivalent
|
||||
pattern) and validated at read-time, not at construction-time,
|
||||
so observers/drivers cheap to construct when scenarios skip.
|
||||
4. Schema errors raise `RuntimeError` with the offending file path;
|
||||
semantic timeouts raise `TimeoutError`; missing-env raises
|
||||
`RuntimeError` with the env var name. Three distinct exception
|
||||
types, predictable failure semantics across all three batches.
|
||||
|
||||
This is good. A future maintainer reading `fc_proxy_runtime.py`,
|
||||
`sitl_observer.py`, and `replay_mode.py` side-by-side will see the
|
||||
same pattern in all three. No drift.
|
||||
|
||||
### Dependency injection for testability
|
||||
|
||||
All three batches use the same dependency-injection convention:
|
||||
|
||||
* `fc_proxy_runtime.drive_fc_proxy(..., now_ms_provider=None, replay_dir=None)` —
|
||||
the replay-vs-live switch is one parameter.
|
||||
* `build_p01_fixtures(..., _runner=None, _video_writer_factory=None,
|
||||
_imread=None, _mavlink_writer_factory=None)` — underscore-prefixed
|
||||
parameters for unit-test substitution.
|
||||
* `_FdrReplayObserver` cursor state is per-instance, so two observers
|
||||
built from the same fixture file don't share cursor (verified by
|
||||
`test_wait_for_outbound_separate_observers_have_independent_cursors`).
|
||||
|
||||
No batch monkey-patches modules to inject test doubles. Substitution
|
||||
flows through public constructor / function parameters. This is the
|
||||
right pattern.
|
||||
|
||||
### Documentation discipline
|
||||
|
||||
* Each ticket spec landed in `_docs/02_tasks/todo/` and moved to
|
||||
`_docs/02_tasks/done/` on batch completion.
|
||||
* Each batch produced a `batch_<N>_report.md` summarizing scope,
|
||||
files touched, test deltas.
|
||||
* Each batch produced a `batch_<N>_review.md` with the AC table,
|
||||
cross-task consistency notes, and security/perf phase coverage.
|
||||
* The two new packages (b76 `fc_proxy_runtime`, b78
|
||||
`sitl_replay_builder`) each ship a README explaining strategy +
|
||||
usage + limitations.
|
||||
|
||||
## Spec → Code Traceability
|
||||
|
||||
| Ticket | Spec ACs | Implementation | Test Coverage |
|
||||
|--------|----------|----------------|---------------|
|
||||
| AZ-596 (b76) | 7 ACs (fc_proxy_runtime drive + replay-mode no-op + audit report + env-var resolution) | `e2e/runner/helpers/fc_proxy_runtime.py` (76 LOC) | 11 tests |
|
||||
| AZ-597 (b77) | 7 ACs (NullFrameSink + NullFcInboundEmitter + load_replay_json + resolve_replay_subdir + 13 rewires + regression gate) | `e2e/runner/helpers/replay_mode.py` (122 LOC) + 13 scenarios | 17 tests |
|
||||
| AZ-598 (b78) | 7 ACs (wait_for_outbound + kwarg fix + FT-P-01 builder + regression gate) | `e2e/runner/helpers/sitl_observer.py` extension (~80 LOC delta) + `e2e/fixtures/sitl_replay_builder/build_p01_fixtures.py` (~330 LOC) | 35 tests (11 observer + 24 builder) |
|
||||
|
||||
Every AC has at least one direct test that exercises it. AC-7
|
||||
(regression gate) is the same metric across all three batches:
|
||||
the full e2e unit-test suite passing.
|
||||
|
||||
## Quality Trends
|
||||
|
||||
* **Test count trajectory**: 608 → 619 (b76) → 626 (b77) → 637 (b78
|
||||
phase 1) → 664 (b78 phase 2). Net +56 tests across the three
|
||||
batches; no removed tests; no skipped tests added (other than
|
||||
the pre-existing `sitl_replay_ready` skip gate which is the
|
||||
point).
|
||||
* **Linter cleanliness**: 0 new lint errors across all three
|
||||
batches (verified per batch via `ReadLints`).
|
||||
* **Public API stability**: 0 breaking changes to surfaces consumed
|
||||
outside `e2e/`. The two scenario kwarg fixes (b78) tighten an
|
||||
already-broken call site; they don't break any working code.
|
||||
* **Encapsulation regressions**: 1 caught + fixed within b76
|
||||
(`fc_proxy_runtime` was accessing `BlackoutSpoofProxy` private
|
||||
attributes; resolved by adding `@property` accessors).
|
||||
|
||||
## Lessons Learned (Propagating to Future Batches)
|
||||
|
||||
1. **Audit scenario call sites before extending helpers**. The b78
|
||||
pre-implementation audit caught the `wait_for_outbound` /
|
||||
`fc_kind` mismatch that would otherwise have blocked FT-P-01.
|
||||
This pattern (grep for `<helper>.<surface>` across `e2e/tests/`
|
||||
first, then implement) catches mis-specified scenarios before
|
||||
the implementation locks in a format.
|
||||
2. **Re-export discipline matters**. The b78 `__init__.py` shadow
|
||||
bug (`from build_p01_fixtures import build_p01_fixtures` shadowing
|
||||
the submodule of the same name) cost one test-run iteration. The
|
||||
fix is documented in the package's `__init__.py` docstring so a
|
||||
future contributor doesn't re-introduce it.
|
||||
3. **"Live" vs "offline" scope must be set up-front**. The b78
|
||||
audit revealed that "live SITL capture" requires ~13+ cp of new
|
||||
production SUT code (no per-still-image ingestion exists). The
|
||||
user-approved pivot to "use replay_input feature" kept the batch
|
||||
tractable. Future infrastructure batches should explicitly
|
||||
classify scope as "offline-testable" vs "requires live SUT
|
||||
process" before commit.
|
||||
4. **Documentation gaps surface in cross-batch audit**. The user's
|
||||
"is the upload feature implemented?" question during b78 forced
|
||||
discovery of `src/gps_denied_onboard/replay_input/` — code I'd
|
||||
missed because I'd only been looking at `e2e/` tree. The
|
||||
monorepo-status / monorepo-document skills should help avoid
|
||||
this for future batches; not used in this arc.
|
||||
|
||||
## Recommendation
|
||||
|
||||
Continue the per-scenario fixture-builder pattern in follow-up
|
||||
tickets (one builder ticket per major scenario family, structured
|
||||
the same way as AZ-598). Open a ticket to converge `fc_kind` /
|
||||
`fc_adapter` naming. Open a separate ticket if the planned live
|
||||
SITL capture path is ever revived (will need the SUT-side frame
|
||||
ingestion design first).
|
||||
@@ -12,9 +12,9 @@ sub_step:
|
||||
retry_count: 0
|
||||
cycle: 1
|
||||
tracker: jira
|
||||
last_completed_batch: 77
|
||||
last_cumulative_review: batches_73-75
|
||||
current_batch: 78
|
||||
last_completed_batch: 78
|
||||
last_cumulative_review: batches_76-78
|
||||
current_batch: 79
|
||||
current_batch_tasks: ""
|
||||
last_step_outcomes:
|
||||
step_8: "Code is testable — no changes needed (testability_assessment.md committed; no list-of-changes, no source edits)"
|
||||
|
||||
@@ -0,0 +1,492 @@
|
||||
"""Unit tests for `e2e/fixtures/sitl_replay_builder/build_p01_fixtures.py` (AZ-598).
|
||||
|
||||
All external dependencies (OpenCV, pymavlink, subprocess) are injected via
|
||||
the underscore-prefixed parameters so the suite runs without the
|
||||
production `gps-denied-replay` install OR a working OpenCV/pymavlink
|
||||
build. The actual end-to-end run is a manual operator step (see README).
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
import subprocess
|
||||
import types
|
||||
from pathlib import Path
|
||||
from typing import Sequence
|
||||
from unittest.mock import MagicMock
|
||||
|
||||
import pytest
|
||||
|
||||
import e2e.fixtures.sitl_replay_builder.build_p01_fixtures as bp
|
||||
|
||||
|
||||
# encode_stills_to_mp4
|
||||
|
||||
|
||||
def _mk_fake_writer():
|
||||
w = MagicMock(name="VideoWriter")
|
||||
w.write = MagicMock()
|
||||
w.release = MagicMock()
|
||||
return w
|
||||
|
||||
|
||||
def test_encode_stills_to_mp4_empty_paths_raises(tmp_path: Path):
|
||||
# Assert
|
||||
with pytest.raises(FileNotFoundError, match="image_paths is empty"):
|
||||
bp.encode_stills_to_mp4(
|
||||
[], tmp_path / "out.mp4",
|
||||
_video_writer_factory=lambda *a, **kw: _mk_fake_writer(),
|
||||
_imread=lambda p: None,
|
||||
)
|
||||
|
||||
|
||||
def test_encode_stills_to_mp4_writes_each_frame(tmp_path: Path):
|
||||
# Arrange
|
||||
writer = _mk_fake_writer()
|
||||
# Simulate (640, 480, 3) BGR frame via a stand-in object with .shape
|
||||
frame = types.SimpleNamespace(shape=(480, 640, 3))
|
||||
paths = [tmp_path / f"img-{i}.jpg" for i in range(3)]
|
||||
|
||||
# Act
|
||||
count = bp.encode_stills_to_mp4(
|
||||
paths, tmp_path / "out.mp4",
|
||||
_video_writer_factory=lambda out, w, h: writer,
|
||||
_imread=lambda p: frame,
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert count == 3
|
||||
assert writer.write.call_count == 3
|
||||
assert writer.release.call_count == 1
|
||||
|
||||
|
||||
def test_encode_stills_to_mp4_failed_read_raises(tmp_path: Path):
|
||||
# Arrange
|
||||
writer = _mk_fake_writer()
|
||||
frame_ok = types.SimpleNamespace(shape=(480, 640, 3))
|
||||
seen: list[Path] = []
|
||||
|
||||
def imread(path: Path):
|
||||
seen.append(path)
|
||||
return None if str(path).endswith("img-1.jpg") else frame_ok
|
||||
|
||||
# Assert
|
||||
with pytest.raises(FileNotFoundError, match="failed to read .*img-1.jpg"):
|
||||
bp.encode_stills_to_mp4(
|
||||
[tmp_path / f"img-{i}.jpg" for i in range(3)],
|
||||
tmp_path / "out.mp4",
|
||||
_video_writer_factory=lambda out, w, h: writer,
|
||||
_imread=imread,
|
||||
)
|
||||
|
||||
|
||||
# generate_stationary_tlog
|
||||
|
||||
|
||||
def test_generate_stationary_tlog_writes_pairs(tmp_path: Path):
|
||||
# Arrange — fake mavlink writer that records every write() call.
|
||||
writer = MagicMock(name="MavlinkWriter")
|
||||
writer.write = MagicMock()
|
||||
writer.close = MagicMock()
|
||||
|
||||
# Act
|
||||
pairs = bp.generate_stationary_tlog(
|
||||
tmp_path / "out.tlog",
|
||||
duration_s=2, hz=10,
|
||||
_mavlink_writer_factory=lambda out: writer,
|
||||
)
|
||||
|
||||
# Assert — 20 pairs (2s * 10Hz), each pair = 2 messages (RAW_IMU + ATTITUDE)
|
||||
assert pairs == 20
|
||||
assert writer.write.call_count == 40
|
||||
assert writer.close.call_count == 1
|
||||
|
||||
|
||||
def test_generate_stationary_tlog_rejects_nonpositive_duration(tmp_path: Path):
|
||||
# Assert
|
||||
with pytest.raises(ValueError, match="duration_s must be positive"):
|
||||
bp.generate_stationary_tlog(
|
||||
tmp_path / "out.tlog", duration_s=0,
|
||||
_mavlink_writer_factory=lambda out: MagicMock(),
|
||||
)
|
||||
|
||||
|
||||
def test_generate_stationary_tlog_rejects_nonpositive_hz(tmp_path: Path):
|
||||
# Assert
|
||||
with pytest.raises(ValueError, match="hz must be positive"):
|
||||
bp.generate_stationary_tlog(
|
||||
tmp_path / "out.tlog", hz=0,
|
||||
_mavlink_writer_factory=lambda out: MagicMock(),
|
||||
)
|
||||
|
||||
|
||||
def test_generate_stationary_tlog_real_pymavlink_round_trip(tmp_path: Path):
|
||||
"""Sanity-check the real packers; tlog file is well-formed."""
|
||||
# Act — use real pymavlink (it's in pyproject.toml deps)
|
||||
pairs = bp.generate_stationary_tlog(
|
||||
tmp_path / "out.tlog", duration_s=1, hz=10,
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert pairs == 10
|
||||
assert (tmp_path / "out.tlog").is_file()
|
||||
assert (tmp_path / "out.tlog").stat().st_size > 0
|
||||
|
||||
|
||||
# run_gps_denied_replay
|
||||
|
||||
|
||||
def test_run_gps_denied_replay_builds_correct_cmd(tmp_path: Path):
|
||||
# Arrange
|
||||
captured: list[Sequence[str]] = []
|
||||
|
||||
def fake_runner(cmd):
|
||||
captured.append(list(cmd))
|
||||
return subprocess.CompletedProcess(args=cmd, returncode=0)
|
||||
|
||||
# Act
|
||||
bp.run_gps_denied_replay(
|
||||
tmp_path / "stills.mp4", tmp_path / "stationary.tlog",
|
||||
tmp_path / "fdr.jsonl",
|
||||
_runner=fake_runner,
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert len(captured) == 1
|
||||
cmd = captured[0]
|
||||
assert cmd[0] == "gps-denied-replay"
|
||||
assert "--video" in cmd and str(tmp_path / "stills.mp4") in cmd
|
||||
assert "--tlog" in cmd and str(tmp_path / "stationary.tlog") in cmd
|
||||
assert "--time-offset-ms" in cmd and "0" in cmd
|
||||
assert "--fdr-out" in cmd and str(tmp_path / "fdr.jsonl") in cmd
|
||||
|
||||
|
||||
def test_run_gps_denied_replay_creates_fdr_parent_dir(tmp_path: Path):
|
||||
# Arrange
|
||||
nested = tmp_path / "deep" / "nested" / "fdr.jsonl"
|
||||
|
||||
# Act
|
||||
bp.run_gps_denied_replay(
|
||||
tmp_path / "video.mp4", tmp_path / "tlog.tlog", nested,
|
||||
_runner=lambda c: subprocess.CompletedProcess(c, 0),
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert nested.parent.is_dir()
|
||||
|
||||
|
||||
def test_run_gps_denied_replay_passes_extra_args(tmp_path: Path):
|
||||
# Arrange
|
||||
captured: list[Sequence[str]] = []
|
||||
fake_runner = lambda c: (captured.append(list(c)) or subprocess.CompletedProcess(c, 0))
|
||||
|
||||
# Act
|
||||
bp.run_gps_denied_replay(
|
||||
tmp_path / "v.mp4", tmp_path / "t.tlog", tmp_path / "fdr.jsonl",
|
||||
extra_args=["--pace=ASAP", "--log-level=INFO"],
|
||||
_runner=fake_runner,
|
||||
)
|
||||
|
||||
# Assert
|
||||
cmd = captured[0]
|
||||
assert "--pace=ASAP" in cmd and "--log-level=INFO" in cmd
|
||||
|
||||
|
||||
# parse_fdr_for_outbound_estimates
|
||||
|
||||
|
||||
def _write_jsonl(path: Path, records: list[dict]) -> None:
|
||||
path.parent.mkdir(parents=True, exist_ok=True)
|
||||
path.write_text("\n".join(json.dumps(r) for r in records))
|
||||
|
||||
|
||||
def test_parse_fdr_missing_file_raises(tmp_path: Path):
|
||||
# Assert
|
||||
with pytest.raises(FileNotFoundError, match="FDR JSONL not found"):
|
||||
bp.parse_fdr_for_outbound_estimates(tmp_path / "missing.jsonl")
|
||||
|
||||
|
||||
def test_parse_fdr_filters_by_kind(tmp_path: Path):
|
||||
# Arrange
|
||||
fdr = tmp_path / "fdr.jsonl"
|
||||
_write_jsonl(fdr, [
|
||||
{"kind": "other", "payload": {"lat_deg": 99.0, "lon_deg": 99.0}},
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 1.0, "lon_deg": 2.0}},
|
||||
{"kind": "another", "payload": {"x": 0}},
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 3.0, "lon_deg": 4.0}},
|
||||
])
|
||||
|
||||
# Act
|
||||
estimates = bp.parse_fdr_for_outbound_estimates(fdr)
|
||||
|
||||
# Assert
|
||||
assert estimates == [
|
||||
{"lat_deg": 1.0, "lon_deg": 2.0},
|
||||
{"lat_deg": 3.0, "lon_deg": 4.0},
|
||||
]
|
||||
|
||||
|
||||
def test_parse_fdr_skips_missing_coords(tmp_path: Path):
|
||||
# Arrange
|
||||
fdr = tmp_path / "fdr.jsonl"
|
||||
_write_jsonl(fdr, [
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 1.0}}, # missing lon
|
||||
{"kind": "outbound_position_estimate", "payload": {"lon_deg": 2.0}}, # missing lat
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 1.0, "lon_deg": 2.0}},
|
||||
])
|
||||
|
||||
# Act
|
||||
estimates = bp.parse_fdr_for_outbound_estimates(fdr)
|
||||
|
||||
# Assert
|
||||
assert estimates == [{"lat_deg": 1.0, "lon_deg": 2.0}]
|
||||
|
||||
|
||||
def test_parse_fdr_custom_kind_and_keys(tmp_path: Path):
|
||||
# Arrange
|
||||
fdr = tmp_path / "fdr.jsonl"
|
||||
_write_jsonl(fdr, [
|
||||
{"kind": "geo_estimate", "payload": {"latitude": 10.0, "longitude": 20.0}},
|
||||
])
|
||||
|
||||
# Act
|
||||
estimates = bp.parse_fdr_for_outbound_estimates(
|
||||
fdr, fdr_kind="geo_estimate", lat_key="latitude", lon_key="longitude"
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert estimates == [{"lat_deg": 10.0, "lon_deg": 20.0}]
|
||||
|
||||
|
||||
def test_parse_fdr_skips_blank_lines(tmp_path: Path):
|
||||
# Arrange
|
||||
fdr = tmp_path / "fdr.jsonl"
|
||||
fdr.write_text(
|
||||
'\n'
|
||||
+ json.dumps({"kind": "outbound_position_estimate",
|
||||
"payload": {"lat_deg": 1.0, "lon_deg": 2.0}})
|
||||
+ '\n\n'
|
||||
)
|
||||
|
||||
# Act
|
||||
estimates = bp.parse_fdr_for_outbound_estimates(fdr)
|
||||
|
||||
# Assert
|
||||
assert len(estimates) == 1
|
||||
|
||||
|
||||
def test_parse_fdr_malformed_json_raises(tmp_path: Path):
|
||||
# Arrange
|
||||
fdr = tmp_path / "fdr.jsonl"
|
||||
fdr.write_text(
|
||||
json.dumps({"kind": "x", "payload": {}}) + "\n"
|
||||
+ "{not valid json\n"
|
||||
)
|
||||
|
||||
# Assert
|
||||
with pytest.raises(ValueError, match="malformed FDR JSON at .*:2"):
|
||||
bp.parse_fdr_for_outbound_estimates(fdr)
|
||||
|
||||
|
||||
# write_outbound_messages_fixture
|
||||
|
||||
|
||||
def test_write_outbound_messages_length_mismatch_raises(tmp_path: Path):
|
||||
# Assert
|
||||
with pytest.raises(ValueError, match="length mismatch"):
|
||||
bp.write_outbound_messages_fixture(
|
||||
tmp_path / "out.json",
|
||||
image_ids=["a.jpg", "b.jpg"],
|
||||
estimates=[{"lat_deg": 1.0, "lon_deg": 2.0}],
|
||||
)
|
||||
|
||||
|
||||
def test_write_outbound_messages_preserves_nulls(tmp_path: Path):
|
||||
# Arrange
|
||||
out = tmp_path / "outbound.json"
|
||||
|
||||
# Act
|
||||
bp.write_outbound_messages_fixture(
|
||||
out,
|
||||
image_ids=["a.jpg", "b.jpg", "c.jpg"],
|
||||
estimates=[{"lat_deg": 1.0, "lon_deg": 2.0}, None, {"lat_deg": 3.0, "lon_deg": 4.0}],
|
||||
)
|
||||
|
||||
# Assert
|
||||
payload = json.loads(out.read_text())
|
||||
assert payload == {
|
||||
"messages": [
|
||||
{"image_id": "a.jpg", "lat_deg": 1.0, "lon_deg": 2.0},
|
||||
None,
|
||||
{"image_id": "c.jpg", "lat_deg": 3.0, "lon_deg": 4.0},
|
||||
]
|
||||
}
|
||||
|
||||
|
||||
def test_write_outbound_messages_creates_parent(tmp_path: Path):
|
||||
# Arrange
|
||||
out = tmp_path / "deeply" / "nested" / "outbound.json"
|
||||
|
||||
# Act
|
||||
bp.write_outbound_messages_fixture(
|
||||
out, image_ids=["a.jpg"], estimates=[{"lat_deg": 1.0, "lon_deg": 2.0}],
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert out.is_file()
|
||||
|
||||
|
||||
# write_observer_fixture
|
||||
|
||||
|
||||
def test_write_observer_fixture_schema(tmp_path: Path):
|
||||
# Arrange
|
||||
out = tmp_path / "observer.json"
|
||||
|
||||
# Act
|
||||
bp.write_observer_fixture(out)
|
||||
|
||||
# Assert — round-trips into the same dict consumed by sitl_observer.get_observer.
|
||||
payload = json.loads(out.read_text())
|
||||
assert "gps_state" in payload
|
||||
assert payload["gps_state"]["primary_source"] == "MAV"
|
||||
assert "parameters" in payload
|
||||
|
||||
|
||||
# build_p01_fixtures end-to-end (mocked)
|
||||
|
||||
|
||||
def test_build_p01_fixtures_no_images_raises(tmp_path: Path):
|
||||
# Arrange
|
||||
cfg = bp.BuilderConfig(
|
||||
input_dir=tmp_path / "empty", output_dir=tmp_path / "out",
|
||||
fc_kind="ardupilot", host="sitl-host",
|
||||
)
|
||||
(tmp_path / "empty").mkdir()
|
||||
|
||||
# Assert
|
||||
with pytest.raises(FileNotFoundError, match="no AD\\?\\?\\?\\?\\?\\?.jpg images"):
|
||||
bp.build_p01_fixtures(cfg)
|
||||
|
||||
|
||||
def test_build_p01_fixtures_end_to_end_with_mocks(tmp_path: Path):
|
||||
# Arrange — synthesize 3 fake AD000NN.jpg files (one per "image"),
|
||||
# mock OpenCV / pymavlink / subprocess, and pre-stage a fake FDR JSONL.
|
||||
input_dir = tmp_path / "in"
|
||||
output_dir = tmp_path / "out"
|
||||
input_dir.mkdir()
|
||||
for n in range(1, 4):
|
||||
(input_dir / f"AD{n:06d}.jpg").touch()
|
||||
|
||||
writer = _mk_fake_writer()
|
||||
frame = types.SimpleNamespace(shape=(480, 640, 3))
|
||||
mav_writer = MagicMock(write=MagicMock(), close=MagicMock())
|
||||
|
||||
def fake_runner(cmd):
|
||||
# Find the --fdr-out path and pre-populate it with 3 records.
|
||||
fdr_path = Path(cmd[cmd.index("--fdr-out") + 1])
|
||||
_write_jsonl(fdr_path, [
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 1.0, "lon_deg": 2.0}},
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 3.0, "lon_deg": 4.0}},
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 5.0, "lon_deg": 6.0}},
|
||||
])
|
||||
return subprocess.CompletedProcess(cmd, 0)
|
||||
|
||||
cfg = bp.BuilderConfig(
|
||||
input_dir=input_dir, output_dir=output_dir,
|
||||
fc_kind="ardupilot", host="sitl-host",
|
||||
)
|
||||
|
||||
# Act
|
||||
result_dir = bp.build_p01_fixtures(
|
||||
cfg,
|
||||
_runner=fake_runner,
|
||||
_video_writer_factory=lambda out, w, h: writer,
|
||||
_imread=lambda p: frame,
|
||||
_mavlink_writer_factory=lambda out: mav_writer,
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert result_dir == output_dir
|
||||
outbound_payload = json.loads((output_dir / "outbound_messages_ardupilot_sitl-host.json").read_text())
|
||||
assert outbound_payload == {
|
||||
"messages": [
|
||||
{"image_id": "AD000001.jpg", "lat_deg": 1.0, "lon_deg": 2.0},
|
||||
{"image_id": "AD000002.jpg", "lat_deg": 3.0, "lon_deg": 4.0},
|
||||
{"image_id": "AD000003.jpg", "lat_deg": 5.0, "lon_deg": 6.0},
|
||||
]
|
||||
}
|
||||
assert (output_dir / "observer_ardupilot_sitl-host.json").is_file()
|
||||
|
||||
|
||||
def test_build_p01_fixtures_fewer_estimates_than_frames_pads_nulls(tmp_path: Path):
|
||||
# Arrange — 3 frames, FDR yields 1 estimate; expect 2 null entries.
|
||||
input_dir = tmp_path / "in"
|
||||
output_dir = tmp_path / "out"
|
||||
input_dir.mkdir()
|
||||
for n in range(1, 4):
|
||||
(input_dir / f"AD{n:06d}.jpg").touch()
|
||||
|
||||
def fake_runner(cmd):
|
||||
fdr_path = Path(cmd[cmd.index("--fdr-out") + 1])
|
||||
_write_jsonl(fdr_path, [
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": 1.0, "lon_deg": 2.0}},
|
||||
])
|
||||
return subprocess.CompletedProcess(cmd, 0)
|
||||
|
||||
cfg = bp.BuilderConfig(
|
||||
input_dir=input_dir, output_dir=output_dir,
|
||||
fc_kind="ardupilot", host="sitl-host",
|
||||
)
|
||||
|
||||
# Act
|
||||
bp.build_p01_fixtures(
|
||||
cfg,
|
||||
_runner=fake_runner,
|
||||
_video_writer_factory=lambda out, w, h: _mk_fake_writer(),
|
||||
_imread=lambda p: types.SimpleNamespace(shape=(480, 640, 3)),
|
||||
_mavlink_writer_factory=lambda out: MagicMock(write=MagicMock(), close=MagicMock()),
|
||||
)
|
||||
|
||||
# Assert
|
||||
payload = json.loads((output_dir / "outbound_messages_ardupilot_sitl-host.json").read_text())
|
||||
assert payload["messages"][0]["lat_deg"] == 1.0
|
||||
assert payload["messages"][1] is None
|
||||
assert payload["messages"][2] is None
|
||||
|
||||
|
||||
def test_build_p01_fixtures_more_estimates_than_frames_truncates(tmp_path: Path, caplog):
|
||||
# Arrange — 2 frames, FDR yields 4 estimates; expect 2 retained + warn.
|
||||
input_dir = tmp_path / "in"
|
||||
output_dir = tmp_path / "out"
|
||||
input_dir.mkdir()
|
||||
for n in range(1, 3):
|
||||
(input_dir / f"AD{n:06d}.jpg").touch()
|
||||
|
||||
def fake_runner(cmd):
|
||||
fdr_path = Path(cmd[cmd.index("--fdr-out") + 1])
|
||||
_write_jsonl(fdr_path, [
|
||||
{"kind": "outbound_position_estimate", "payload": {"lat_deg": float(i), "lon_deg": float(i)}}
|
||||
for i in range(4)
|
||||
])
|
||||
return subprocess.CompletedProcess(cmd, 0)
|
||||
|
||||
cfg = bp.BuilderConfig(
|
||||
input_dir=input_dir, output_dir=output_dir,
|
||||
fc_kind="ardupilot", host="sitl-host",
|
||||
)
|
||||
|
||||
# Act
|
||||
with caplog.at_level("WARNING"):
|
||||
bp.build_p01_fixtures(
|
||||
cfg,
|
||||
_runner=fake_runner,
|
||||
_video_writer_factory=lambda out, w, h: _mk_fake_writer(),
|
||||
_imread=lambda p: types.SimpleNamespace(shape=(480, 640, 3)),
|
||||
_mavlink_writer_factory=lambda out: MagicMock(write=MagicMock(), close=MagicMock()),
|
||||
)
|
||||
|
||||
# Assert
|
||||
payload = json.loads((output_dir / "outbound_messages_ardupilot_sitl-host.json").read_text())
|
||||
assert len(payload["messages"]) == 2
|
||||
assert any("truncating" in rec.message for rec in caplog.records)
|
||||
@@ -211,6 +211,204 @@ def test_get_observer_missing_gps_state_raises(replay_dir: Path):
|
||||
obs.read_gps_state()
|
||||
|
||||
|
||||
# wait_for_outbound (AZ-598)
|
||||
|
||||
|
||||
def _write_observer_fixture(replay_dir: Path, fc_kind: str, host: str) -> None:
|
||||
"""Write the minimal `observer_<kind>_<host>.json` so `get_observer` succeeds."""
|
||||
_write_json(
|
||||
replay_dir / f"observer_{fc_kind}_{host}.json",
|
||||
{
|
||||
"gps_state": {
|
||||
"primary_source": "MAV",
|
||||
"last_position_lat_deg": 0.0,
|
||||
"last_position_lon_deg": 0.0,
|
||||
"last_position_alt_m": 0.0,
|
||||
"fix_quality": 3,
|
||||
"horizontal_accuracy_m": 1.0,
|
||||
"last_update_age_ms": 0,
|
||||
},
|
||||
"parameters": {},
|
||||
},
|
||||
)
|
||||
|
||||
|
||||
def test_wait_for_outbound_advances_cursor_in_order(replay_dir: Path):
|
||||
# Arrange
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{
|
||||
"messages": [
|
||||
{"image_id": "AD000001.jpg", "lat_deg": 48.275292, "lon_deg": 37.385220},
|
||||
{"image_id": "AD000002.jpg", "lat_deg": 48.275001, "lon_deg": 37.382922},
|
||||
]
|
||||
},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Act
|
||||
first = obs.wait_for_outbound(timeout_s=5.0)
|
||||
second = obs.wait_for_outbound(timeout_s=5.0)
|
||||
|
||||
# Assert
|
||||
assert first.lat_deg == 48.275292 and first.lon_deg == 37.385220
|
||||
assert first.image_id == "AD000001.jpg"
|
||||
assert second.lat_deg == 48.275001 and second.lon_deg == 37.382922
|
||||
assert second.image_id == "AD000002.jpg"
|
||||
|
||||
|
||||
def test_wait_for_outbound_null_entry_raises_timeout(replay_dir: Path):
|
||||
# Arrange
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{"messages": [None]},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Assert
|
||||
with pytest.raises(TimeoutError, match="captured as timeout in fixture"):
|
||||
obs.wait_for_outbound(timeout_s=5.0)
|
||||
|
||||
|
||||
def test_wait_for_outbound_advances_cursor_past_timeout(replay_dir: Path):
|
||||
# Arrange — a real timeout in the middle of the sequence does not stall
|
||||
# the cursor; the next call advances normally.
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{
|
||||
"messages": [
|
||||
{"lat_deg": 1.0, "lon_deg": 2.0},
|
||||
None,
|
||||
{"lat_deg": 3.0, "lon_deg": 4.0},
|
||||
]
|
||||
},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Act / Assert
|
||||
assert obs.wait_for_outbound().lat_deg == 1.0
|
||||
with pytest.raises(TimeoutError):
|
||||
obs.wait_for_outbound()
|
||||
third = obs.wait_for_outbound()
|
||||
assert third.lat_deg == 3.0 and third.lon_deg == 4.0
|
||||
|
||||
|
||||
def test_wait_for_outbound_exhausted_raises_runtime(replay_dir: Path):
|
||||
# Arrange
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{"messages": [{"lat_deg": 1.0, "lon_deg": 2.0}]},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
obs.wait_for_outbound() # drain the only entry
|
||||
|
||||
# Assert
|
||||
with pytest.raises(RuntimeError, match="outbound messages fixture exhausted"):
|
||||
obs.wait_for_outbound()
|
||||
|
||||
|
||||
def test_wait_for_outbound_missing_fixture_raises_runtime(replay_dir: Path):
|
||||
# Arrange — observer fixture present, outbound fixture missing.
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Assert
|
||||
with pytest.raises(RuntimeError, match="outbound_messages_ardupilot_sitl-host.json"):
|
||||
obs.wait_for_outbound()
|
||||
|
||||
|
||||
def test_wait_for_outbound_missing_env_raises_runtime(unset_replay_dir):
|
||||
# Arrange — observer dataclass constructed manually so we don't depend on env var
|
||||
# for the observer-fixture load. Verifies the outbound load itself respects the env.
|
||||
obs = so._FdrReplayObserver(fc_kind="ardupilot", host="sitl-host", _payload={})
|
||||
|
||||
# Assert
|
||||
with pytest.raises(RuntimeError, match="env var not set"):
|
||||
obs.wait_for_outbound()
|
||||
|
||||
|
||||
def test_wait_for_outbound_messages_not_list_raises_runtime(replay_dir: Path):
|
||||
# Arrange
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{"messages": {"oops": "should be list"}},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Assert
|
||||
with pytest.raises(RuntimeError, match="`messages` must be a JSON list"):
|
||||
obs.wait_for_outbound()
|
||||
|
||||
|
||||
def test_wait_for_outbound_entry_wrong_type_raises_runtime(replay_dir: Path):
|
||||
# Arrange
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{"messages": ["not-an-object"]},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Assert
|
||||
with pytest.raises(RuntimeError, match=r"messages\[0\] must be a JSON object or null"):
|
||||
obs.wait_for_outbound()
|
||||
|
||||
|
||||
def test_wait_for_outbound_entry_missing_coords_raises_runtime(replay_dir: Path):
|
||||
# Arrange
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{"messages": [{"image_id": "AD000001.jpg"}]},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Assert
|
||||
with pytest.raises(RuntimeError, match="missing required `lat_deg`/`lon_deg`"):
|
||||
obs.wait_for_outbound()
|
||||
|
||||
|
||||
def test_wait_for_outbound_image_id_optional(replay_dir: Path):
|
||||
# Arrange — entries without `image_id` are valid; consumer only needs coords.
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{"messages": [{"lat_deg": 10.0, "lon_deg": 20.0}]},
|
||||
)
|
||||
obs = so.get_observer("ardupilot", "sitl-host")
|
||||
|
||||
# Act
|
||||
msg = obs.wait_for_outbound()
|
||||
|
||||
# Assert
|
||||
assert msg.lat_deg == 10.0 and msg.lon_deg == 20.0
|
||||
assert msg.image_id is None
|
||||
|
||||
|
||||
def test_wait_for_outbound_separate_observers_have_independent_cursors(replay_dir: Path):
|
||||
# Arrange — two observers built from the same fixture file must NOT share cursor.
|
||||
_write_observer_fixture(replay_dir, "ardupilot", "sitl-host")
|
||||
_write_json(
|
||||
replay_dir / "outbound_messages_ardupilot_sitl-host.json",
|
||||
{"messages": [{"lat_deg": 1.0, "lon_deg": 2.0}, {"lat_deg": 3.0, "lon_deg": 4.0}]},
|
||||
)
|
||||
|
||||
# Act
|
||||
obs_a = so.get_observer("ardupilot", "sitl-host")
|
||||
obs_b = so.get_observer("ardupilot", "sitl-host")
|
||||
a_first = obs_a.wait_for_outbound()
|
||||
b_first = obs_b.wait_for_outbound()
|
||||
|
||||
# Assert
|
||||
assert a_first.lat_deg == 1.0
|
||||
assert b_first.lat_deg == 1.0
|
||||
|
||||
|
||||
# prepare_sitl_*
|
||||
|
||||
|
||||
|
||||
@@ -57,6 +57,9 @@ E2E_ROOT = Path(__file__).resolve().parents[1]
|
||||
"runner/helpers/blackout_spoof_evaluator.py",
|
||||
"runner/helpers/fc_proxy_runtime.py",
|
||||
"runner/helpers/replay_mode.py",
|
||||
"fixtures/sitl_replay_builder/__init__.py",
|
||||
"fixtures/sitl_replay_builder/build_p01_fixtures.py",
|
||||
"fixtures/sitl_replay_builder/README.md",
|
||||
"fixtures/mock-suite-sat/Dockerfile",
|
||||
"fixtures/mock-suite-sat/app.py",
|
||||
"fixtures/mock-suite-sat/requirements.txt",
|
||||
|
||||
@@ -0,0 +1,77 @@
|
||||
# SITL Replay Fixture Builder (AZ-598)
|
||||
|
||||
Produces the `outbound_messages_<fc_kind>_<host>.json` +
|
||||
`observer_<fc_kind>_<host>.json` fixtures consumed by the b75
|
||||
`sitl_observer` module in offline FDR-replay mode (b75/b78).
|
||||
|
||||
## Vertical-slice scope (this batch)
|
||||
|
||||
Only the FT-P-01 still-image accuracy scenario is supported. Other
|
||||
scenarios (FT-P-02 Derkachi continuous flight, FT-N-04 blackout-spoof,
|
||||
etc.) need their own capture flows and will land as follow-up tickets.
|
||||
|
||||
## Strategy
|
||||
|
||||
Rather than spinning up a SITL container, this builder reuses the
|
||||
production `gps-denied-replay` CLI + `ReplayInputAdapter`:
|
||||
|
||||
1. Encode the 60 `AD0000NN.jpg` still images into a 1 fps MP4.
|
||||
2. Generate a synthetic stationary tlog (zero-motion `RAW_IMU` +
|
||||
`ATTITUDE` pairs at 200 Hz) — bypasses the AZ-405 take-off
|
||||
pre-validator without needing real flight data.
|
||||
3. Run `gps-denied-replay --video stills.mp4 --tlog stationary.tlog
|
||||
--time-offset-ms 0 --fdr-out fdr.jsonl` (auto-sync bypassed
|
||||
because the synthetic tlog has no take-off signal).
|
||||
4. Read `fdr.jsonl`, filter to `kind == outbound_position_estimate`,
|
||||
project each into the `outbound_messages_*` schema.
|
||||
5. Write the two fixture JSON files into `--output-dir`.
|
||||
|
||||
This avoids needing new SUT-side frame-ingestion code (HTTP endpoint,
|
||||
file-watch source, etc.) which would otherwise be required to push
|
||||
individual stills to a running SUT container.
|
||||
|
||||
## Usage
|
||||
|
||||
```bash
|
||||
gps-denied-build-p01-fixtures \
|
||||
--input-dir _docs/00_problem/input_data \
|
||||
--output-dir e2e/fixtures/sitl_replay/p01 \
|
||||
--fc-kind ardupilot \
|
||||
--host sitl-host
|
||||
```
|
||||
|
||||
The output directory will contain:
|
||||
|
||||
* `stills.mp4` — the 60 images encoded at 1 fps.
|
||||
* `stationary.tlog` — synthetic 120-s zero-motion tlog at 200 Hz.
|
||||
* `fdr.jsonl` — the FDR JSONL stream from the replay run.
|
||||
* `outbound_messages_ardupilot_sitl-host.json` — the consumed fixture.
|
||||
* `observer_ardupilot_sitl-host.json` — the consumed fixture.
|
||||
|
||||
To activate the fixtures in a scenario run:
|
||||
|
||||
```bash
|
||||
E2E_SITL_REPLAY_DIR=e2e/fixtures/sitl_replay/p01 \
|
||||
pytest e2e/tests/positive/test_ft_p_01_still_image_accuracy.py
|
||||
```
|
||||
|
||||
## Limitations
|
||||
|
||||
* The synthetic tlog encodes zero motion — auto-sync MUST be bypassed
|
||||
via `--time-offset-ms 0` (the builder does this automatically).
|
||||
* The FDR record `kind` is assumed to be `outbound_position_estimate`
|
||||
— the `--fdr-kind` CLI flag overrides if the actual schema differs.
|
||||
* Per-image timeout handling: if the SUT emits fewer outbound estimates
|
||||
than pushed frames, trailing image_ids are written as `null` entries
|
||||
(encoded as TimeoutError on scenario replay).
|
||||
* iNav adapter is NOT supported by this batch — only ArduPilot. iNav
|
||||
will land as a follow-up once the AP path is validated end-to-end.
|
||||
|
||||
## Testing
|
||||
|
||||
Unit tests under `e2e/_unit_tests/fixtures/test_sitl_replay_builder.py`
|
||||
mock all external dependencies (OpenCV, pymavlink, subprocess) so the
|
||||
test suite runs without a real `gps-denied-replay` install. The actual
|
||||
end-to-end run requires the SUT to be installed (`pip install -e .` at
|
||||
repo root) and is documented as a manual step until CI infrastructure
|
||||
catches up.
|
||||
@@ -0,0 +1,20 @@
|
||||
"""SITL replay fixture builder (AZ-598).
|
||||
|
||||
Vertical-slice tooling that produces the `outbound_messages_<fc_kind>_<host>.json`
|
||||
+ `observer_<fc_kind>_<host>.json` fixtures consumed by the b75 sitl_observer
|
||||
in offline FDR-replay mode.
|
||||
|
||||
Strategy: reuse the production `gps-denied-replay` CLI + `ReplayInputAdapter`
|
||||
to drive the SUT pipeline against a 1 fps MP4 encoded from the FT-P-01 still
|
||||
image set and a synthetic stationary tlog. Read the resulting FDR JSONL and
|
||||
project each per-frame outbound estimate into the fixture schema. This avoids
|
||||
building new SUT-side frame ingestion infrastructure.
|
||||
|
||||
Only the FT-P-01 still-image variant is supported in this batch; FT-P-02 etc.
|
||||
will land as follow-up tickets.
|
||||
|
||||
Public symbols live on the submodule `build_p01_fixtures`; we deliberately
|
||||
do NOT re-export them on the package namespace because the function and
|
||||
the submodule share the name `build_p01_fixtures` and the function would
|
||||
shadow the submodule for `import …build_p01_fixtures as bp` callers.
|
||||
"""
|
||||
@@ -0,0 +1,471 @@
|
||||
"""FT-P-01 fixture builder (AZ-598).
|
||||
|
||||
Produces:
|
||||
|
||||
* ``outbound_messages_<fc_kind>_<host>.json`` — per-image SUT outbound GPS
|
||||
estimates, in image-order. ``null`` entries encode per-image timeouts.
|
||||
* ``observer_<fc_kind>_<host>.json`` — minimal observer config so
|
||||
``sitl_observer.get_observer`` succeeds when the fixtures are activated.
|
||||
|
||||
Strategy: drive the production ``gps-denied-replay`` CLI against a 1 fps
|
||||
MP4 encoded from the FT-P-01 still-image set and a synthetic stationary
|
||||
tlog, then read the resulting FDR JSONL for per-frame outbound estimates.
|
||||
Compared with the rejected "live SITL docker capture" path this:
|
||||
|
||||
* Adds no new SUT-side frame-ingestion code (reuses
|
||||
``ReplayInputAdapter`` + ``VideoFileFrameSource``).
|
||||
* Bypasses the SITL container entirely (FT-P-01 tests upstream
|
||||
geo-estimate accuracy; the FC is just a delivery channel).
|
||||
* Runs as a single subprocess instead of a multi-container compose.
|
||||
|
||||
The helpers below are intentionally dependency-injectable so the unit
|
||||
tests can mock OpenCV / pymavlink / subprocess / filesystem without
|
||||
touching real hardware or libraries.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import logging
|
||||
import subprocess
|
||||
import sys
|
||||
from dataclasses import dataclass
|
||||
from pathlib import Path
|
||||
from typing import Callable, Iterable, Sequence
|
||||
|
||||
_LOG = logging.getLogger(__name__)
|
||||
|
||||
DEFAULT_FPS = 1.0
|
||||
DEFAULT_TLOG_DURATION_S = 120
|
||||
DEFAULT_TLOG_HZ = 200
|
||||
DEFAULT_FDR_KIND = "outbound_position_estimate"
|
||||
DEFAULT_CLI_BIN = "gps-denied-replay"
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class BuilderConfig:
|
||||
"""Per-invocation builder configuration."""
|
||||
|
||||
input_dir: Path
|
||||
output_dir: Path
|
||||
fc_kind: str
|
||||
host: str
|
||||
fps: float = DEFAULT_FPS
|
||||
tlog_duration_s: int = DEFAULT_TLOG_DURATION_S
|
||||
tlog_hz: int = DEFAULT_TLOG_HZ
|
||||
fdr_kind: str = DEFAULT_FDR_KIND
|
||||
cli_bin: str = DEFAULT_CLI_BIN
|
||||
|
||||
|
||||
# Step 1 — encode the still images into a 1 fps MP4
|
||||
|
||||
|
||||
def encode_stills_to_mp4(
|
||||
image_paths: Sequence[Path],
|
||||
output_mp4: Path,
|
||||
*,
|
||||
fps: float = DEFAULT_FPS,
|
||||
_video_writer_factory: Callable | None = None,
|
||||
_imread: Callable | None = None,
|
||||
) -> int:
|
||||
"""Encode `image_paths` (in order) as an MP4 at `fps`. Returns frame count.
|
||||
|
||||
Raises ``FileNotFoundError`` when no image paths are supplied or when
|
||||
any input image cannot be read.
|
||||
|
||||
The OpenCV dependencies are injected via the underscore-prefixed
|
||||
parameters so unit tests can run without OpenCV being available.
|
||||
"""
|
||||
if not image_paths:
|
||||
raise FileNotFoundError(
|
||||
"encode_stills_to_mp4: image_paths is empty; nothing to encode"
|
||||
)
|
||||
|
||||
if _video_writer_factory is None or _imread is None:
|
||||
import cv2
|
||||
|
||||
_imread = _imread or (lambda path: cv2.imread(str(path), cv2.IMREAD_COLOR))
|
||||
if _video_writer_factory is None:
|
||||
_fourcc = cv2.VideoWriter_fourcc(*"mp4v")
|
||||
|
||||
def _video_writer_factory(out: Path, width: int, height: int):
|
||||
return cv2.VideoWriter(str(out), _fourcc, fps, (width, height))
|
||||
|
||||
first_frame = _imread(image_paths[0])
|
||||
if first_frame is None:
|
||||
raise FileNotFoundError(
|
||||
f"encode_stills_to_mp4: failed to read {image_paths[0]}"
|
||||
)
|
||||
height, width = first_frame.shape[:2]
|
||||
output_mp4.parent.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
writer = _video_writer_factory(output_mp4, width, height)
|
||||
try:
|
||||
writer.write(first_frame)
|
||||
for path in image_paths[1:]:
|
||||
frame = _imread(path)
|
||||
if frame is None:
|
||||
raise FileNotFoundError(
|
||||
f"encode_stills_to_mp4: failed to read {path}"
|
||||
)
|
||||
writer.write(frame)
|
||||
finally:
|
||||
writer.release()
|
||||
|
||||
return len(image_paths)
|
||||
|
||||
|
||||
# Step 2 — generate a synthetic stationary tlog
|
||||
|
||||
|
||||
def generate_stationary_tlog(
|
||||
output_tlog: Path,
|
||||
*,
|
||||
duration_s: int = DEFAULT_TLOG_DURATION_S,
|
||||
hz: int = DEFAULT_TLOG_HZ,
|
||||
_mavlink_writer_factory: Callable | None = None,
|
||||
) -> int:
|
||||
"""Write a tlog with `duration_s * hz` stationary RAW_IMU + ATTITUDE pairs.
|
||||
|
||||
The output is the minimum tlog content ``ReplayInputAdapter`` requires:
|
||||
monotonic-timestamp RAW_IMU + ATTITUDE messages so the AZ-405 tlog
|
||||
pre-validator (`AC-13`) doesn't reject the input.
|
||||
|
||||
The samples encode zero accel/gyro/attitude — auto-sync will refuse to
|
||||
find a take-off, so callers MUST drive ``gps-denied-replay`` with an
|
||||
explicit ``--time-offset-ms 0`` to bypass auto-sync.
|
||||
|
||||
Returns the number of message PAIRS written.
|
||||
"""
|
||||
if duration_s <= 0:
|
||||
raise ValueError(f"duration_s must be positive; got {duration_s}")
|
||||
if hz <= 0:
|
||||
raise ValueError(f"hz must be positive; got {hz}")
|
||||
|
||||
if _mavlink_writer_factory is None:
|
||||
from pymavlink import mavutil
|
||||
|
||||
def _mavlink_writer_factory(out: Path):
|
||||
return mavutil.mavlogfile(str(out), write=True)
|
||||
|
||||
output_tlog.parent.mkdir(parents=True, exist_ok=True)
|
||||
pairs = 0
|
||||
writer = _mavlink_writer_factory(output_tlog)
|
||||
try:
|
||||
period_us = int(1_000_000 / hz)
|
||||
total_pairs = duration_s * hz
|
||||
for i in range(total_pairs):
|
||||
time_us = i * period_us
|
||||
writer.write(_pack_raw_imu_zero(time_us))
|
||||
writer.write(_pack_attitude_zero(time_us // 1000))
|
||||
pairs += 1
|
||||
finally:
|
||||
close = getattr(writer, "close", None)
|
||||
if callable(close):
|
||||
close()
|
||||
|
||||
return pairs
|
||||
|
||||
|
||||
def _pack_raw_imu_zero(time_usec: int) -> bytes:
|
||||
"""Pack a zero-motion RAW_IMU MAVLink frame (msg id 27).
|
||||
|
||||
Constructed with pymavlink's MAVLink2 packer so the produced bytes are
|
||||
a wire-compatible MAVLink frame including header + CRC. Stationary
|
||||
semantics: all accel/gyro/mag fields are zero except the Z accel which
|
||||
carries one g (gravity, ~9.81 m/s² × 1000 in mg).
|
||||
"""
|
||||
from pymavlink.dialects.v20 import ardupilotmega as mavlink
|
||||
|
||||
packer = mavlink.MAVLink(file=None, srcSystem=1, srcComponent=1)
|
||||
msg = mavlink.MAVLink_raw_imu_message(
|
||||
time_usec=time_usec,
|
||||
xacc=0,
|
||||
yacc=0,
|
||||
zacc=-9810,
|
||||
xgyro=0,
|
||||
ygyro=0,
|
||||
zgyro=0,
|
||||
xmag=0,
|
||||
ymag=0,
|
||||
zmag=0,
|
||||
id=0,
|
||||
temperature=0,
|
||||
)
|
||||
return msg.pack(packer)
|
||||
|
||||
|
||||
def _pack_attitude_zero(time_boot_ms: int) -> bytes:
|
||||
"""Pack a zero-motion ATTITUDE MAVLink frame (msg id 30)."""
|
||||
from pymavlink.dialects.v20 import ardupilotmega as mavlink
|
||||
|
||||
packer = mavlink.MAVLink(file=None, srcSystem=1, srcComponent=1)
|
||||
msg = mavlink.MAVLink_attitude_message(
|
||||
time_boot_ms=time_boot_ms,
|
||||
roll=0.0,
|
||||
pitch=0.0,
|
||||
yaw=0.0,
|
||||
rollspeed=0.0,
|
||||
pitchspeed=0.0,
|
||||
yawspeed=0.0,
|
||||
)
|
||||
return msg.pack(packer)
|
||||
|
||||
|
||||
# Step 3 — drive `gps-denied-replay` against the generated video+tlog
|
||||
|
||||
|
||||
def run_gps_denied_replay(
|
||||
video: Path,
|
||||
tlog: Path,
|
||||
fdr_out: Path,
|
||||
*,
|
||||
cli_bin: str = DEFAULT_CLI_BIN,
|
||||
time_offset_ms: int = 0,
|
||||
extra_args: Sequence[str] = (),
|
||||
_runner: Callable[[Sequence[str]], subprocess.CompletedProcess] | None = None,
|
||||
) -> subprocess.CompletedProcess:
|
||||
"""Run ``gps-denied-replay`` as a subprocess.
|
||||
|
||||
Bypasses auto-sync via ``--time-offset-ms 0`` because the synthetic
|
||||
stationary tlog has no take-off signal to detect.
|
||||
|
||||
Raises ``subprocess.CalledProcessError`` on non-zero exit code (with
|
||||
the FDR path included in the error message). The default subprocess
|
||||
runner can be swapped via the underscore-prefixed parameter for tests.
|
||||
"""
|
||||
fdr_out.parent.mkdir(parents=True, exist_ok=True)
|
||||
cmd: list[str] = [
|
||||
cli_bin,
|
||||
"--video", str(video),
|
||||
"--tlog", str(tlog),
|
||||
"--time-offset-ms", str(time_offset_ms),
|
||||
"--fdr-out", str(fdr_out),
|
||||
*extra_args,
|
||||
]
|
||||
_LOG.info("running: %s", " ".join(cmd))
|
||||
|
||||
runner = _runner or (lambda c: subprocess.run(c, check=True, capture_output=True, text=True))
|
||||
return runner(cmd)
|
||||
|
||||
|
||||
# Step 4 — extract per-frame outbound estimates from the FDR JSONL
|
||||
|
||||
|
||||
def parse_fdr_for_outbound_estimates(
|
||||
fdr_path: Path,
|
||||
*,
|
||||
fdr_kind: str = DEFAULT_FDR_KIND,
|
||||
lat_key: str = "lat_deg",
|
||||
lon_key: str = "lon_deg",
|
||||
) -> list[dict]:
|
||||
"""Walk `fdr_path` (JSONL) and return outbound-estimate payloads in order.
|
||||
|
||||
A record contributes one entry when its ``kind`` matches `fdr_kind` AND
|
||||
its payload carries both `lat_key` and `lon_key`. Other records are
|
||||
silently skipped (the FDR carries many record types per the
|
||||
`_docs/02_document/contracts/fdr/` schema). Malformed JSON lines raise
|
||||
``ValueError`` with the line number.
|
||||
"""
|
||||
if not fdr_path.is_file():
|
||||
raise FileNotFoundError(f"FDR JSONL not found: {fdr_path}")
|
||||
|
||||
out: list[dict] = []
|
||||
with fdr_path.open("r", encoding="utf-8") as fp:
|
||||
for line_no, line in enumerate(fp, start=1):
|
||||
line = line.strip()
|
||||
if not line:
|
||||
continue
|
||||
try:
|
||||
record = json.loads(line)
|
||||
except json.JSONDecodeError as exc:
|
||||
raise ValueError(
|
||||
f"malformed FDR JSON at {fdr_path}:{line_no}: {exc.msg}"
|
||||
) from exc
|
||||
if record.get("kind") != fdr_kind:
|
||||
continue
|
||||
payload = record.get("payload", {})
|
||||
if not isinstance(payload, dict):
|
||||
continue
|
||||
if lat_key not in payload or lon_key not in payload:
|
||||
continue
|
||||
out.append(
|
||||
{
|
||||
"lat_deg": float(payload[lat_key]),
|
||||
"lon_deg": float(payload[lon_key]),
|
||||
}
|
||||
)
|
||||
return out
|
||||
|
||||
|
||||
# Step 5 — write the two fixture files in the b75/b78 schema
|
||||
|
||||
|
||||
def write_outbound_messages_fixture(
|
||||
output_path: Path,
|
||||
image_ids: Sequence[str],
|
||||
estimates: Sequence[dict | None],
|
||||
) -> None:
|
||||
"""Write `outbound_messages_<fc_kind>_<host>.json`.
|
||||
|
||||
`image_ids` and `estimates` must have the same length. `None` entries
|
||||
in `estimates` are persisted as JSON `null` (timeout markers); other
|
||||
entries must carry `lat_deg`/`lon_deg`.
|
||||
"""
|
||||
if len(image_ids) != len(estimates):
|
||||
raise ValueError(
|
||||
f"length mismatch: {len(image_ids)} image_ids vs "
|
||||
f"{len(estimates)} estimates"
|
||||
)
|
||||
messages: list[dict | None] = []
|
||||
for image_id, estimate in zip(image_ids, estimates):
|
||||
if estimate is None:
|
||||
messages.append(None)
|
||||
continue
|
||||
messages.append(
|
||||
{
|
||||
"image_id": image_id,
|
||||
"lat_deg": float(estimate["lat_deg"]),
|
||||
"lon_deg": float(estimate["lon_deg"]),
|
||||
}
|
||||
)
|
||||
output_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
output_path.write_text(json.dumps({"messages": messages}, indent=2))
|
||||
|
||||
|
||||
def write_observer_fixture(output_path: Path) -> None:
|
||||
"""Write minimal `observer_<fc_kind>_<host>.json` so `get_observer` succeeds.
|
||||
|
||||
The FT-P-01 scenario only consumes `wait_for_outbound`, but
|
||||
`get_observer` still requires a valid observer fixture for
|
||||
construction. Populate with safe defaults; per-scenario tests that
|
||||
care about `read_gps_state` carry their own observer fixtures.
|
||||
"""
|
||||
payload = {
|
||||
"gps_state": {
|
||||
"primary_source": "MAV",
|
||||
"last_position_lat_deg": 0.0,
|
||||
"last_position_lon_deg": 0.0,
|
||||
"last_position_alt_m": 0.0,
|
||||
"fix_quality": 3,
|
||||
"horizontal_accuracy_m": 1.0,
|
||||
"last_update_age_ms": 0,
|
||||
},
|
||||
"parameters": {},
|
||||
}
|
||||
output_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
output_path.write_text(json.dumps(payload, indent=2))
|
||||
|
||||
|
||||
# Orchestration
|
||||
|
||||
|
||||
def _resolve_p01_image_paths(input_dir: Path) -> list[Path]:
|
||||
"""Return the AD0000NN.jpg images under `input_dir`, sorted by name."""
|
||||
if not input_dir.is_dir():
|
||||
raise FileNotFoundError(f"input dir not found: {input_dir}")
|
||||
return sorted(input_dir.glob("AD??????.jpg"))
|
||||
|
||||
|
||||
def build_p01_fixtures(
|
||||
cfg: BuilderConfig,
|
||||
*,
|
||||
_runner: Callable[[Sequence[str]], subprocess.CompletedProcess] | None = None,
|
||||
_video_writer_factory: Callable | None = None,
|
||||
_imread: Callable | None = None,
|
||||
_mavlink_writer_factory: Callable | None = None,
|
||||
) -> Path:
|
||||
"""End-to-end FT-P-01 fixture build. Returns the output directory.
|
||||
|
||||
Steps (matches the module docstring):
|
||||
|
||||
1. Resolve the 60 AD0000NN.jpg images under ``cfg.input_dir``.
|
||||
2. Encode them at ``cfg.fps`` into ``stills.mp4`` under ``cfg.output_dir``.
|
||||
3. Generate a stationary ``stationary.tlog`` under ``cfg.output_dir``.
|
||||
4. Run ``gps-denied-replay`` against the pair; write FDR JSONL.
|
||||
5. Project FDR outbound-estimate records into the two fixture files.
|
||||
|
||||
Per-frame timeout handling: if the FDR yields fewer estimates than
|
||||
images, the trailing image_ids get `null` (timeout) entries. If the
|
||||
FDR yields MORE estimates than images (multiple emissions per frame),
|
||||
only the first ``len(image_paths)`` estimates are kept and a WARN is
|
||||
logged so the operator notices the schema mismatch.
|
||||
"""
|
||||
image_paths = _resolve_p01_image_paths(cfg.input_dir)
|
||||
if not image_paths:
|
||||
raise FileNotFoundError(
|
||||
f"no AD??????.jpg images found under {cfg.input_dir}"
|
||||
)
|
||||
|
||||
cfg.output_dir.mkdir(parents=True, exist_ok=True)
|
||||
stills_mp4 = cfg.output_dir / "stills.mp4"
|
||||
stationary_tlog = cfg.output_dir / "stationary.tlog"
|
||||
fdr_jsonl = cfg.output_dir / "fdr.jsonl"
|
||||
|
||||
encode_stills_to_mp4(
|
||||
image_paths, stills_mp4, fps=cfg.fps,
|
||||
_video_writer_factory=_video_writer_factory, _imread=_imread,
|
||||
)
|
||||
generate_stationary_tlog(
|
||||
stationary_tlog,
|
||||
duration_s=cfg.tlog_duration_s,
|
||||
hz=cfg.tlog_hz,
|
||||
_mavlink_writer_factory=_mavlink_writer_factory,
|
||||
)
|
||||
run_gps_denied_replay(
|
||||
stills_mp4, stationary_tlog, fdr_jsonl,
|
||||
cli_bin=cfg.cli_bin, _runner=_runner,
|
||||
)
|
||||
|
||||
raw_estimates = parse_fdr_for_outbound_estimates(fdr_jsonl, fdr_kind=cfg.fdr_kind)
|
||||
estimates: list[dict | None] = list(raw_estimates[: len(image_paths)])
|
||||
if len(raw_estimates) > len(image_paths):
|
||||
_LOG.warning(
|
||||
"FDR carried %d outbound estimates but only %d images were pushed; "
|
||||
"truncating to the per-frame count", len(raw_estimates), len(image_paths)
|
||||
)
|
||||
while len(estimates) < len(image_paths):
|
||||
estimates.append(None)
|
||||
|
||||
outbound_path = cfg.output_dir / f"outbound_messages_{cfg.fc_kind}_{cfg.host}.json"
|
||||
observer_path = cfg.output_dir / f"observer_{cfg.fc_kind}_{cfg.host}.json"
|
||||
write_outbound_messages_fixture(
|
||||
outbound_path,
|
||||
image_ids=[p.name for p in image_paths],
|
||||
estimates=estimates,
|
||||
)
|
||||
write_observer_fixture(observer_path)
|
||||
return cfg.output_dir
|
||||
|
||||
|
||||
def _main(argv: Sequence[str] | None = None) -> int:
|
||||
parser = argparse.ArgumentParser(
|
||||
prog="build_p01_fixtures",
|
||||
description="Build FT-P-01 SITL replay fixtures via gps-denied-replay.",
|
||||
)
|
||||
parser.add_argument("--input-dir", type=Path, required=True,
|
||||
help="Directory containing AD000001..AD000060.jpg")
|
||||
parser.add_argument("--output-dir", type=Path, required=True,
|
||||
help="Output dir for stills.mp4 + stationary.tlog + fixtures")
|
||||
parser.add_argument("--fc-kind", choices=("ardupilot", "inav"), default="ardupilot")
|
||||
parser.add_argument("--host", default="sitl-host")
|
||||
parser.add_argument("--fps", type=float, default=DEFAULT_FPS)
|
||||
parser.add_argument("--cli-bin", default=DEFAULT_CLI_BIN)
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
logging.basicConfig(level=logging.INFO)
|
||||
cfg = BuilderConfig(
|
||||
input_dir=args.input_dir,
|
||||
output_dir=args.output_dir,
|
||||
fc_kind=args.fc_kind,
|
||||
host=args.host,
|
||||
fps=args.fps,
|
||||
cli_bin=args.cli_bin,
|
||||
)
|
||||
build_p01_fixtures(cfg)
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__": # pragma: no cover
|
||||
sys.exit(_main())
|
||||
@@ -25,6 +25,8 @@ Fixture file naming (under `${E2E_SITL_REPLAY_DIR}/`):
|
||||
* `gps_health_samples.json` — list[{monotonic_ms, healthy, spoofed}]
|
||||
* `consistency_check_events.json` — list[{monotonic_ms, passed}]
|
||||
* `observer_<fc_kind>_<host>.json` — {gps_state: {...}, parameters: {...}}
|
||||
* `outbound_messages_<fc_kind>_<host>.json` —
|
||||
{messages: [{image_id?, lat_deg, lon_deg} | null, ...]}
|
||||
* `ap_parameters_<host>.json` — {<param_name>: <value>, ...}
|
||||
* `ap_tlog_<host>.tlog` — raw mavproxy tlog (any binary content)
|
||||
* `inav_handshake_<host>.json` — {established_within_s: float | None}
|
||||
@@ -39,7 +41,7 @@ from __future__ import annotations
|
||||
|
||||
import json
|
||||
import os
|
||||
from dataclasses import dataclass
|
||||
from dataclasses import dataclass, field
|
||||
from pathlib import Path
|
||||
from typing import Iterable, Literal
|
||||
|
||||
@@ -112,16 +114,41 @@ class InavGpsState:
|
||||
provider: str
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class OutboundMessage:
|
||||
"""One outbound GPS estimate captured from the SUT.
|
||||
|
||||
Both ArduPilot ``GPS_INPUT`` and iNav ``MSP2_SENSOR_GPS`` are
|
||||
projected into this minimal shape because the scenarios consuming
|
||||
`wait_for_outbound` only care about the geo-coordinates. The
|
||||
optional `image_id` round-trips for diagnostics but is not part
|
||||
of the consumer contract.
|
||||
"""
|
||||
|
||||
lat_deg: float
|
||||
lon_deg: float
|
||||
image_id: str | None = None
|
||||
|
||||
|
||||
# Observer interface (returned by ``get_observer``)
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
@dataclass
|
||||
class _FdrReplayObserver:
|
||||
"""FDR-replay observer — reads gps_state + parameters from one JSON file."""
|
||||
"""FDR-replay observer — reads SUT state from JSON fixtures.
|
||||
|
||||
`_payload` holds the observer configuration fixture
|
||||
(`observer_<fc_kind>_<host>.json`). Cursor state for
|
||||
`wait_for_outbound` is intentionally lazy — the outbound-messages
|
||||
fixture is loaded on the first call so observers constructed for
|
||||
scenarios that never call `wait_for_outbound` don't pay the I/O.
|
||||
"""
|
||||
|
||||
fc_kind: FcKind
|
||||
host: str
|
||||
_payload: dict
|
||||
_outbound_cursor: int = 0
|
||||
_outbound_messages: list[dict | None] | None = field(default=None, repr=False)
|
||||
|
||||
def read_gps_state(self) -> FcGpsState:
|
||||
gps = self._payload.get("gps_state")
|
||||
@@ -147,6 +174,78 @@ class _FdrReplayObserver:
|
||||
)
|
||||
return params.get(name)
|
||||
|
||||
def wait_for_outbound(self, timeout_s: float | None = None) -> OutboundMessage:
|
||||
"""Return the next captured outbound GPS estimate (cursor-based replay).
|
||||
|
||||
`timeout_s` is accepted for live-mode parity and ignored in
|
||||
replay mode — the fixture already encodes per-call timeouts
|
||||
as `null` entries.
|
||||
|
||||
Raises:
|
||||
TimeoutError: cursor entry is `null` (SUT didn't emit
|
||||
anything for the corresponding image during capture).
|
||||
RuntimeError: fixture missing OR malformed OR cursor
|
||||
advanced past the messages list length.
|
||||
"""
|
||||
if self._outbound_messages is None:
|
||||
self._outbound_messages = _load_outbound_messages(self.fc_kind, self.host)
|
||||
|
||||
if self._outbound_cursor >= len(self._outbound_messages):
|
||||
raise RuntimeError(
|
||||
f"sitl_observer ({self.fc_kind}/{self.host}): "
|
||||
f"outbound messages fixture exhausted after "
|
||||
f"{self._outbound_cursor} call(s); scenario expects more"
|
||||
)
|
||||
|
||||
entry = self._outbound_messages[self._outbound_cursor]
|
||||
self._outbound_cursor += 1
|
||||
|
||||
if entry is None:
|
||||
raise TimeoutError(
|
||||
f"sitl_observer ({self.fc_kind}/{self.host}): "
|
||||
f"outbound message #{self._outbound_cursor} captured as "
|
||||
f"timeout in fixture (timeout_s={timeout_s})"
|
||||
)
|
||||
|
||||
return OutboundMessage(
|
||||
lat_deg=float(entry["lat_deg"]),
|
||||
lon_deg=float(entry["lon_deg"]),
|
||||
image_id=entry.get("image_id"),
|
||||
)
|
||||
|
||||
|
||||
def _load_outbound_messages(fc_kind: FcKind, host: str) -> list[dict | None]:
|
||||
"""Load + validate `outbound_messages_<fc_kind>_<host>.json`.
|
||||
|
||||
Returns the validated `messages` list (None entries preserved).
|
||||
Raises RuntimeError on any malformed shape so observers fail
|
||||
loudly rather than hand out garbage.
|
||||
"""
|
||||
payload, path = _load_required_json(f"outbound_messages_{fc_kind}_{host}.json")
|
||||
raw = payload.get("messages")
|
||||
if not isinstance(raw, list):
|
||||
raise RuntimeError(
|
||||
f"sitl_observer outbound fixture {path}: "
|
||||
f"`messages` must be a JSON list; got {type(raw).__name__}"
|
||||
)
|
||||
validated: list[dict | None] = []
|
||||
for idx, entry in enumerate(raw):
|
||||
if entry is None:
|
||||
validated.append(None)
|
||||
continue
|
||||
if not isinstance(entry, dict):
|
||||
raise RuntimeError(
|
||||
f"sitl_observer outbound fixture {path}: "
|
||||
f"messages[{idx}] must be a JSON object or null; got {type(entry).__name__}"
|
||||
)
|
||||
if "lat_deg" not in entry or "lon_deg" not in entry:
|
||||
raise RuntimeError(
|
||||
f"sitl_observer outbound fixture {path}: "
|
||||
f"messages[{idx}] missing required `lat_deg`/`lon_deg` keys"
|
||||
)
|
||||
validated.append(entry)
|
||||
return validated
|
||||
|
||||
|
||||
# Module-level helpers
|
||||
|
||||
|
||||
@@ -87,7 +87,7 @@ def test_ft_p_01_still_image_accuracy(
|
||||
|
||||
# 2. Resolve the SITL listener for the requested FC adapter.
|
||||
sitl_host = "sitl-ardupilot" if fc_adapter == "ardupilot" else "sitl-inav"
|
||||
observer = sitl_observer.get_observer(fc_adapter=fc_adapter, host=sitl_host)
|
||||
observer = sitl_observer.get_observer(fc_kind=fc_adapter, host=sitl_host)
|
||||
sink = _resolve_frame_sink()
|
||||
replayer = FrameSourceReplayer(sink)
|
||||
|
||||
|
||||
@@ -79,7 +79,7 @@ def test_ft_p_05_sat_anchor(
|
||||
|
||||
# 2. Push images, collect (est_lat, est_lon, mre_px) per image.
|
||||
sitl_host = "sitl-ardupilot" if fc_adapter == "ardupilot" else "sitl-inav"
|
||||
observer = sitl_observer.get_observer(fc_adapter=fc_adapter, host=sitl_host)
|
||||
observer = sitl_observer.get_observer(fc_kind=fc_adapter, host=sitl_host)
|
||||
sink = _resolve_frame_sink()
|
||||
replayer = FrameSourceReplayer(sink)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user