feat: stage9 — Factor Graph and Chunks

tests/test_chunk_manager.py

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+"""Tests for Route Chunk Manager (F12)."""
+
+import pytest
+import numpy as np
+
+from gps_denied.core.chunk_manager import RouteChunkManager
+from gps_denied.core.graph import FactorGraphOptimizer
+from gps_denied.schemas.graph import FactorGraphConfig
+from gps_denied.schemas.chunk import ChunkStatus
+from gps_denied.schemas.metric import Sim3Transform
+
+@pytest.fixture
+def chunk_manager():
+    opt = FactorGraphOptimizer(FactorGraphConfig())
+    return RouteChunkManager(opt)
+
+def test_create_and_get_chunk(chunk_manager):
+    flight_id = "flight123"
+    chunk = chunk_manager.create_new_chunk(flight_id, 0)
+    
+    assert chunk.is_active is True
+    assert chunk.start_frame_id == 0
+    assert chunk.flight_id == flight_id
+    
+    active = chunk_manager.get_active_chunk(flight_id)
+    assert active.chunk_id == chunk.chunk_id
+    
+def test_add_frame_to_chunk(chunk_manager):
+    flight = "fl2"
+    chunk_manager.create_new_chunk(flight, 100)
+    
+    assert chunk_manager.add_frame_to_chunk(flight, 101) is True
+    
+    active = chunk_manager.get_active_chunk(flight)
+    assert 101 in active.frames
+    assert len(active.frames) == 2
+
+def test_chunk_merging_logic(chunk_manager):
+    flight = "fl3"
+    c1 = chunk_manager.create_new_chunk(flight, 0)
+    c1_id = c1.chunk_id
+    
+    c2 = chunk_manager.create_new_chunk(flight, 50)
+    c2_id = c2.chunk_id
+    chunk_manager.add_frame_to_chunk(flight, 51)
+    
+    # c2 is active now, c1 is inactive
+    assert chunk_manager.get_active_chunk(flight).chunk_id == c2_id
+    
+    transform = Sim3Transform(translation=np.zeros(3), rotation=np.eye(3), scale=1)
+    
+    # merge c2 into c1
+    res = chunk_manager.merge_chunks(flight, c2_id, c1_id, transform)
+    
+    assert res is True
+    
+    # c2 frames moved to c1
+    assert 50 in c1.frames
+    assert len(c2.frames) == 0
+    assert c2.matching_status == ChunkStatus.MERGED
+    assert c2.is_active is False