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[AZ-960] render-map: dispatch --truth loader on extension (CSV+tlog)
load_ground_truth_track now dispatches on truth_path.suffix: - .csv → load_csv_ground_truth (AZ-894) - else (.tlog, .bin, no ext) → load_tlog_ground_truth (AZ-697) Removes the AZ-959 short-circuit in SubprocessReplayRunner. _maybe_render_map so CSV-path replay jobs ship with the same map.html artefact as tlog jobs. Both ground-truth DTOs expose row-aligned (lat_deg, lon_deg) records so the renderer needs no other changes. Touches: - src/gps_denied_onboard/cli/render_map.py: dispatch + source-agnostic tooltip + --truth CLI help expanded - src/gps_denied_onboard/replay_api/app.py: workaround removed, truth_path resolution picks whichever input was uploaded Tests: 44/44 green across test_az700_render_map.py + test_az701_replay_api.py: - 17 pre-existing render-map tests pass unchanged (AC-2) - New test_load_ground_truth_track_dispatches_to_csv_loader (AC-1) - New test_load_ground_truth_track_csv_propagates_schema_error (AC-4: malformed CSV raises ReplayInputAdapterError) - New test_cli_renders_map_with_csv_truth (AC-1 end-to-end) - AZ-959 test_post_replay_csv_path_returns_200... extended to assert map_html_url is now present (AC-3) Bookkeeping: AZ-960 spec moved todo/ → done/, dep-table preamble seventh bump documents the landing + AC coverage, state.md records batch 6 complete with AZ-961 as next. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
File diff suppressed because one or more lines are too long
@@ -8,7 +8,7 @@ status: in_progress
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sub_step:
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phase: 6
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name: implement-tasks
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detail: "batch 6 of N: AZ-960 gps-denied-render-map CSV-truth dispatch (extends --truth loader to dispatch on extension; removes the AZ-959 _maybe_render_map workaround; unblocks UI map link for CSV uploads). Filed alongside AZ-961 (ReportContext rename, sequenced after AZ-960 to avoid re-conflict on _maybe_render_report kwargs). OKVIS2 chain (AZ-943 + AZ-951 + AZ-952) sits in todo/ but is sequenced after the Derkachi e2e flight test passes per user 2026-05-29 directive."
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detail: "batch 6 complete: AZ-960 gps-denied-render-map CSV-truth dispatch landed (44/44 tests green across render_map + replay_api; CSV-path replay jobs now ship with map_html_url populated). Next batch 7: AZ-961 ReportContext.tlog_path → ground_truth_path rename + label fix. OKVIS2 chain (AZ-943 + AZ-951 + AZ-952) sits in todo/ but is sequenced after the Derkachi e2e flight test passes per user 2026-05-29 directive."
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retry_count: 0
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cycle: 4
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tracker: jira
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@@ -28,7 +28,10 @@ from dataclasses import dataclass
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from pathlib import Path
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from typing import Any
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from gps_denied_onboard.replay_input import load_tlog_ground_truth
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from gps_denied_onboard.replay_input import (
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load_csv_ground_truth,
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load_tlog_ground_truth,
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)
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__all__ = [
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"RenderInputs",
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@@ -102,10 +105,20 @@ def load_estimated_track(jsonl_path: Path) -> list[tuple[float, float]]:
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return out
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def load_ground_truth_track(tlog_path: Path) -> list[tuple[float, float]]:
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"""Load a ``(lat, lon)`` track from a binary tlog (AZ-697)."""
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series = load_tlog_ground_truth(tlog_path)
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return [(fix.lat_deg, fix.lon_deg) for fix in series.records]
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def load_ground_truth_track(truth_path: Path) -> list[tuple[float, float]]:
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"""Load a ``(lat, lon)`` track from binary tlog (AZ-697) or AZ-896 CSV.
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Dispatches on file extension: ``.csv`` → :func:`load_csv_ground_truth`,
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anything else (``.tlog``, ``.bin``, no extension) →
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:func:`load_tlog_ground_truth`. Both loaders return row-aligned
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DTOs whose ``records`` expose ``lat_deg`` / ``lon_deg`` attributes,
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so the rest of the renderer is source-agnostic.
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"""
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if truth_path.suffix.lower() == ".csv":
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csv_series = load_csv_ground_truth(truth_path)
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return [(fix.lat_deg, fix.lon_deg) for fix in csv_series.records]
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tlog_series = load_tlog_ground_truth(truth_path)
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return [(fix.lat_deg, fix.lon_deg) for fix in tlog_series.records]
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def _bounds(
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@@ -187,7 +200,7 @@ def render_map_html(
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color=_TRUTH_LINE_COLOR,
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weight=3,
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opacity=0.9,
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tooltip="Ground truth (tlog)",
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tooltip="Ground truth",
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).add_to(m)
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if inputs.estimated_track:
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folium.PolyLine(
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@@ -285,7 +298,12 @@ def _build_argparser() -> argparse.ArgumentParser:
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"--truth",
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type=Path,
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required=True,
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help="Path to the binary tlog the estimator was run against.",
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help=(
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"Path to the ground-truth source the estimator was run "
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"against. Accepts either a binary tlog (default for "
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"`.tlog`/`.bin`/no-extension) or an AZ-896 schema CSV "
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"(when the path ends in `.csv`)."
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),
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)
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parser.add_argument(
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"--output",
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@@ -262,16 +262,6 @@ class SubprocessReplayRunner:
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output_dir: Path,
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report_path: Path | None,
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) -> Path | None:
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# gps-denied-render-map only understands binary tlog truth
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# today; CSV-truth dispatch is an AZ-700 follow-up. For now,
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# CSV-path runs ship without a map (report + emissions still
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# render, see _maybe_render_report).
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if inputs.tlog_path is None:
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_LOGGER.info(
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"skipping map render — CSV-path runs do not yet support "
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"the gps-denied-render-map CLI (AZ-700 follow-up)"
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)
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return None
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if not shutil.which(self._render_binary):
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venv_bin = Path(sys.executable).parent / self._render_binary
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if not venv_bin.exists():
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@@ -283,13 +273,18 @@ class SubprocessReplayRunner:
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render_bin = str(venv_bin)
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else:
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render_bin = self._render_binary
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# gps-denied-render-map dispatches on the --truth file
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# extension (AZ-960) so we just pass whichever input path
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# carried this job's ground truth.
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truth_path = inputs.csv_path if inputs.csv_path is not None else inputs.tlog_path
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assert truth_path is not None
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map_path = output_dir / "map.html"
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argv = [
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render_bin,
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"--estimated",
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str(emissions_path),
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"--truth",
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str(inputs.tlog_path),
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str(truth_path),
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"--output",
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str(map_path),
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]
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@@ -709,6 +709,12 @@ def test_post_replay_csv_path_returns_200_and_dispatches_imu_flag(
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body = response.json()
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assert body["state"] == JobState.DONE.value
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assert body["sync"] is True
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# AZ-960 AC-3: CSV-path jobs now expose a map_html_url
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# (the fake runner writes a map.html fixture that the registry
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# links into the snapshot).
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assert body.get("map_html_url", "").endswith("/map"), (
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f"expected map_html_url to point at /map; got body={body}"
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)
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# Runner saw the csv_path branch (tlog_path is None for csv jobs)
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assert len(fake_runner.calls) == 1
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inputs = fake_runner.calls[0]
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@@ -371,3 +371,92 @@ def test_load_ground_truth_track_returns_lat_lon_pairs(tmp_path: Path) -> None:
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for lat, lon in track:
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assert 49.99 < lat < 50.01
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assert 29.99 < lon < 30.01
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# ---------------------------------------------------------------------
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# AZ-960 — CSV-path dispatch for --truth
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def _write_minimal_csv(path: Path) -> None:
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"""Write a tiny AZ-896-schema CSV with 3 GPS rows for AZ-960 tests."""
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header = (
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"timestamp(ms),Time,"
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"SCALED_IMU2.xacc,SCALED_IMU2.yacc,SCALED_IMU2.zacc,"
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"SCALED_IMU2.xgyro,SCALED_IMU2.ygyro,SCALED_IMU2.zgyro,"
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"GLOBAL_POSITION_INT.lat,GLOBAL_POSITION_INT.lon,"
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"GLOBAL_POSITION_INT.alt,GLOBAL_POSITION_INT.vx,"
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"GLOBAL_POSITION_INT.vy,GLOBAL_POSITION_INT.vz,"
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"GLOBAL_POSITION_INT.hdg"
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)
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rows = [
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"0,0.0,21,-3,-984,52,32,-5,50.000,30.000,141290,0,0,0,35041",
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"100,0.1,-68,-9,-995,58,-17,1,50.0005,30.0005,141360,0,0,0,35042",
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"200,0.2,9,108,-988,69,-65,13,50.001,30.001,141410,0,0,0,35048",
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]
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path.write_text(header + "\n" + "\n".join(rows) + "\n")
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def test_load_ground_truth_track_dispatches_to_csv_loader(
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tmp_path: Path,
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) -> None:
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# Arrange — AC-1: csv extension routes through load_csv_ground_truth
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csv_path = tmp_path / "data_imu.csv"
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_write_minimal_csv(csv_path)
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# Act
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track = load_ground_truth_track(csv_path)
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# Assert
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assert len(track) == 3
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for lat, lon in track:
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assert 49.999 < lat < 50.002
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assert 29.999 < lon < 30.002
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def test_load_ground_truth_track_csv_propagates_schema_error(
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tmp_path: Path,
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) -> None:
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# Arrange — AC-4: malformed CSV fails fast via ReplayInputAdapterError
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csv_path = tmp_path / "bad.csv"
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csv_path.write_text(
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"timestamp(ms),SCALED_IMU2.xacc,GLOBAL_POSITION_INT.lat\n"
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"0,0,50.0\n"
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)
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from gps_denied_onboard.replay_input.errors import ReplayInputAdapterError
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# Act / Assert
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with pytest.raises(ReplayInputAdapterError, match="Time"):
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load_ground_truth_track(csv_path)
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def test_cli_renders_map_with_csv_truth(tmp_path: Path) -> None:
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# Arrange — AC-1 end-to-end: CLI accepts --truth foo.csv
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csv_path = tmp_path / "data_imu.csv"
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_write_minimal_csv(csv_path)
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estimated = tmp_path / "estimator.jsonl"
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_write_jsonl(
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estimated,
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[
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{"position_wgs84": {"lat_deg": 50.0, "lon_deg": 30.0, "alt_m": 100}},
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{"position_wgs84": {"lat_deg": 50.001, "lon_deg": 30.001, "alt_m": 101}},
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],
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)
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output = tmp_path / "map.html"
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# Act
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rc = main(
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[
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"--estimated", str(estimated),
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"--truth", str(csv_path),
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"--output", str(output),
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]
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)
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# Assert
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assert rc == 0
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assert output.is_file()
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body = output.read_text()
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assert body.startswith("<!DOCTYPE html>")
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assert "L.polyline" in body
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assert '"color": "red"' in body
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assert '"color": "blue"' in body
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