feat: stage9 — Factor Graph and Chunks

tests/test_recovery.py

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+"""Tests for Failure Recovery Coordinator (F11)."""
+
+import pytest
+import numpy as np
+
+from gps_denied.core.recovery import FailureRecoveryCoordinator
+from gps_denied.core.chunk_manager import RouteChunkManager
+from gps_denied.core.graph import FactorGraphOptimizer
+from gps_denied.core.gpr import GlobalPlaceRecognition
+from gps_denied.core.metric import MetricRefinement
+from gps_denied.core.models import ModelManager
+from gps_denied.schemas.graph import FactorGraphConfig
+
+@pytest.fixture
+def recovery():
+    opt = FactorGraphOptimizer(FactorGraphConfig())
+    cm = RouteChunkManager(opt)
+    
+    mm = ModelManager()
+    gpr = GlobalPlaceRecognition(mm)
+    gpr.load_index("test", "test")
+    
+    metric = MetricRefinement(mm)
+    return FailureRecoveryCoordinator(cm, gpr, metric)
+
+def test_handle_tracking_lost(recovery):
+    flight = "recovery_fl"
+    res = recovery.handle_tracking_lost(flight, 404)
+    
+    assert res is True
+    # active chunk should be 404
+    active = recovery.chunk_manager.get_active_chunk(flight)
+    assert active.start_frame_id == 404
+
+def test_process_chunk_recovery_success(recovery, monkeypatch):
+    # Mock LitSAM to guarantee match
+    def mock_align(*args, **kwargs):
+        from gps_denied.schemas.metric import ChunkAlignmentResult, Sim3Transform
+        from gps_denied.schemas.flight import GPSPoint
+        return ChunkAlignmentResult(
+            matched=True, chunk_id="x", chunk_center_gps=GPSPoint(lat=49, lon=30),
+            rotation_angle=0, confidence=0.9, inlier_count=50,
+            transform=Sim3Transform(translation=np.zeros(3), rotation=np.eye(3), scale=1),
+            reprojection_error=1.0
+        )
+        
+    monkeypatch.setattr(recovery.metric_refinement, "align_chunk_to_satellite", mock_align)
+    
+    flight = "rec2"
+    recovery.handle_tracking_lost(flight, 10)
+    chunk_id = recovery.chunk_manager.get_active_chunk(flight).chunk_id
+    
+    images = [np.zeros((256, 256, 3)) for _ in range(3)]
+    res = recovery.process_chunk_recovery(flight, chunk_id, images)
+    
+    assert res is True
+    
+    from gps_denied.schemas.chunk import ChunkStatus
+    active = recovery.chunk_manager.get_active_chunk(flight)
+    
+    assert active.has_anchor is True
+    assert active.matching_status == ChunkStatus.ANCHORED