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[AZ-405] Replay — replay_input/ coordinator + IMU take-off auto-sync
Adds the Layer-4 cross-cutting `replay_input/` module per ADR-011: ReplayInputAdapter converges (video, tlog) into the standard FrameSource + FcAdapter + Clock surfaces the airborne composition root consumes. Owns time-alignment between video frames and tlog IMU/attitude ticks (manual via --time-offset-ms or auto via the AZ-405 IMU-take-off detector + Farneback motion-onset detector). Auto-sync algorithm (auto_sync.py): - Tlog take-off detector: sustained vertical-accel excess > 0.5 g for >= 0.5 s + sustained attitude-rate magnitude > 1 rad/s. - Video motion-onset detector: dense Farneback flow magnitude > 1.5 px sustained >= 0.5 s (deterministic per AC-10). - compute_offset combines the two; confidence = min(tlog, video). - validate_offset_or_fail implements the AC-9 95 % frame-window match validator with configurable threshold + window. ReplayInputAdapter.open() ordering (AC-13): 1. Load tlog samples + fail-fast on missing RAW_IMU/SCALED_IMU2 or ATTITUDE BEFORE any video read. 2. Resolve offset (auto-sync OR manual override; manual bypasses the detectors entirely per AC-8). 3. Run AC-9 validator on resolved offset; raise auto-sync hard-fail for AC-7 (CLI exit 2 mapping). 4. Build single Clock instance per pace (TlogDerived/ASAP, Wall/REAL). 5. Construct VideoFileFrameSource and TlogReplayFcAdapter with the resolved offset baked in (replay protocol Invariant 8). Structured log + FDR records on auto-sync detected / low-confidence / AC-8 hard-fail kinds. Idempotent close (AC-12). Tests: 25 unit tests across tests/unit/replay_input/ covering all 13 ACs (kernel-level synthetic fixtures for AC-1..AC-10; coordinator- level OpenCV synthetic videos + faked pymavlink for AC-6..AC-13). Contract update: replay_protocol.md v2.0.0 added fdr_client to the ReplayInputAdapter __init__ signature (was missing in the prose; the task spec already listed it in the allowed-imports section). Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -0,0 +1,729 @@
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"""AZ-405 — ``ReplayInputAdapter`` coordinator unit tests.
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Covers AC-6 (low-confidence WARN-and-proceed), AC-7 (AC-8 hard-fail),
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AC-8 (manual override bypass), AC-11 (open() returns a complete
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bundle), AC-12 (idempotent close), and AC-13 (R-DEMO-3 fail-fast on
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missing tlog message types).
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Synthetic videos use the same OpenCV-driven fixture pattern as
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``tests/unit/frame_source/test_protocol_conformance.py``; the tlog
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side is faked via the coordinator's ``tlog_source_factory`` injection
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point so tests run without a real pymavlink connection.
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Style: every test follows the Arrange / Act / Assert pattern.
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"""
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from __future__ import annotations
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from pathlib import Path
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from types import SimpleNamespace
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from typing import Any
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from unittest import mock
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import cv2
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import numpy as np
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import pytest
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from gps_denied_onboard._types.calibration import CameraCalibration
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from gps_denied_onboard._types.fc import FcKind
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from gps_denied_onboard.clock.tlog_derived import TlogDerivedClock
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from gps_denied_onboard.clock.wall_clock import WallClock
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from gps_denied_onboard.components.c8_fc_adapter.tlog_replay_adapter import (
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ReplayPace,
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TlogReplayFcAdapter,
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)
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from gps_denied_onboard.frame_source.video_file import VideoFileFrameSource
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from gps_denied_onboard.replay_input.errors import ReplayInputAdapterError
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from gps_denied_onboard.replay_input.interface import (
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AutoSyncConfig,
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AutoSyncDecision,
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ReplayInputBundle,
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)
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from gps_denied_onboard.replay_input.tlog_video_adapter import ReplayInputAdapter
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# ---------------------------------------------------------------------
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# Fixtures
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@pytest.fixture(autouse=True)
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def _enable_build_flags(monkeypatch: pytest.MonkeyPatch) -> None:
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"""Both downstream strategies are gated by build flags (AZ-398 / AZ-399)."""
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monkeypatch.setenv("BUILD_VIDEO_FILE_FRAME_SOURCE", "ON")
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monkeypatch.setenv("BUILD_TLOG_REPLAY_ADAPTER", "ON")
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@pytest.fixture
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def fake_fdr_client() -> mock.MagicMock:
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return mock.MagicMock(name="FdrClient")
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@pytest.fixture
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def fake_wgs_converter() -> mock.MagicMock:
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return mock.MagicMock(name="WgsConverter")
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@pytest.fixture
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def camera_calibration() -> CameraCalibration:
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return CameraCalibration(
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camera_id="az405-test",
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intrinsics_3x3=None,
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distortion=None,
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body_to_camera_se3=None,
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acquisition_method="synthetic",
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)
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def _make_synthetic_video(path: Path, n_frames: int = 60, fps: int = 30) -> Path:
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"""Write a 64×48 BGR MP4V file at ``path`` and return it."""
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fourcc = cv2.VideoWriter_fourcc(*"mp4v")
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writer = cv2.VideoWriter(str(path), fourcc, fps, (64, 48))
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if not writer.isOpened():
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raise RuntimeError(f"OpenCV could not open writer at {path!s}")
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try:
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for i in range(n_frames):
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frame = np.full((48, 64, 3), i % 256, dtype=np.uint8)
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writer.write(frame)
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finally:
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writer.release()
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return path
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@pytest.fixture
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def synthetic_video(tmp_path: Path) -> Path:
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return _make_synthetic_video(tmp_path / "az405-video.mp4", n_frames=60, fps=30)
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@pytest.fixture
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def synthetic_tlog_path(tmp_path: Path) -> Path:
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p = tmp_path / "az405.tlog"
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p.write_bytes(b"fake-tlog")
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return p
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# ---------------------------------------------------------------------
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# Fake pymavlink source
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def _ns(seconds: float) -> int:
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return int(seconds * 1_000_000_000)
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def _fake_msg(msg_type: str, *, ts_s: float, **fields: Any) -> SimpleNamespace:
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ns = SimpleNamespace(_timestamp=ts_s, **fields)
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ns.get_type = lambda: msg_type
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return ns
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def _build_takeoff_messages(
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*,
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accel_pre_total_g: float = 1.0,
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accel_post_total_g: float = 2.2,
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accel_hz: int = 200,
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pre_seconds: float = 2.0,
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post_seconds: float = 1.5,
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) -> list[SimpleNamespace]:
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"""A short tlog stream with a clear take-off pattern + GPS + heartbeat."""
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out: list[SimpleNamespace] = []
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accel_period = 1.0 / accel_hz
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# Pre-takeoff: 1 g hover (z-acc = -1g in body, after sign).
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t = 0.0
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while t < pre_seconds:
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out.append(
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_fake_msg(
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"RAW_IMU",
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ts_s=t,
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xacc=0,
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yacc=0,
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zacc=-int(accel_pre_total_g * 1000),
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xgyro=0,
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ygyro=0,
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zgyro=0,
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)
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)
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t += accel_period
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# Post-takeoff: 2.2 g sustained climb thrust.
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while t < pre_seconds + post_seconds:
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out.append(
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_fake_msg(
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"RAW_IMU",
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ts_s=t,
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xacc=0,
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yacc=0,
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zacc=-int(accel_post_total_g * 1000),
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xgyro=0,
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ygyro=0,
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zgyro=0,
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)
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)
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t += accel_period
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# Attitude: flat hover then 1.5 rad/s pitch ramp.
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t = 0.0
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attitude_period = 1.0 / 100.0
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while t < pre_seconds:
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out.append(
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_fake_msg("ATTITUDE", ts_s=t, roll=0.0, pitch=0.0, yaw=0.0)
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)
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t += attitude_period
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pitch_rate = 1.5
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while t < pre_seconds + post_seconds:
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dt = t - pre_seconds
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out.append(
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_fake_msg(
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"ATTITUDE",
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ts_s=t,
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roll=0.0,
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pitch=pitch_rate * dt,
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yaw=0.0,
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)
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)
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t += attitude_period
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# GPS_RAW_INT + HEARTBEAT (required by AZ-399 pre-scan).
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out.append(
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_fake_msg(
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"GPS_RAW_INT",
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ts_s=0.0,
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fix_type=3,
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lat=499910000,
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lon=362210000,
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alt=153_400,
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)
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)
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out.append(_fake_msg("HEARTBEAT", ts_s=0.0, system_status=4, base_mode=0))
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out.sort(key=lambda m: m._timestamp)
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return out
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class _FakeTlog:
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"""Minimal pymavlink ``mavlink_connection`` stand-in.
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Returns each stored message once on ``recv_match``; ignores the
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``type=`` filter (the AZ-399 decode loop receives unfiltered
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HEARTBEAT/IMU/ATTITUDE/GPS streams).
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"""
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def __init__(self, messages: list[SimpleNamespace]) -> None:
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self._iter = iter(messages)
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self.closed = False
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def recv_match(self, **_kwargs: Any) -> SimpleNamespace | None:
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return next(self._iter, None)
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def close(self) -> None:
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self.closed = True
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def _factory_for(messages: list[SimpleNamespace]) -> Any:
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"""Return a source factory that yields a fresh ``_FakeTlog`` per call.
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The coordinator opens the tlog twice (once for ``_load_tlog_samples``
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in the auto-sync path, once via the FC adapter's pre-scan + decode
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handles), so the messages have to be re-emittable.
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"""
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def _factory(_path: str) -> _FakeTlog:
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return _FakeTlog(list(messages))
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return _factory
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def _frames_factory_with_motion(
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*,
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n_stationary: int = 10,
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n_moving: int = 50,
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fps: int = 30,
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) -> Any:
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"""Return a frames_factory yielding the AC-4 motion-onset shape."""
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period_ns = int(1_000_000_000 / fps)
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rng = np.random.default_rng(seed=0)
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def _factory(_path: Path, _scan_seconds: float) -> Any:
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out: list[tuple[int, np.ndarray]] = []
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# Stationary: identical frames so optical flow ≈ 0.
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base = np.full((48, 64, 3), 128, dtype=np.uint8)
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for i in range(n_stationary):
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out.append((i * period_ns, base.copy()))
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# Moving: each frame replaces a 16×16 patch at a random offset
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# so Farneback returns a clear non-zero magnitude. Determinism
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# is preserved by the seeded RNG.
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for j in range(n_moving):
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frame = base.copy()
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r = rng.integers(0, 32)
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c = rng.integers(0, 48)
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frame[r : r + 16, c : c + 16, :] = 240
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out.append(((n_stationary + j) * period_ns, frame))
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return out
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return _factory
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def _video_timestamps_factory(
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*,
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n_frames: int = 60,
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fps: int = 30,
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) -> Any:
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"""Return a timestamps_factory with deterministic per-frame ts (ns)."""
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period_ns = int(1_000_000_000 / fps)
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def _factory(_path: Path) -> list[int]:
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return [i * period_ns for i in range(n_frames)]
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return _factory
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# ---------------------------------------------------------------------
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# AC-11 — open() returns a complete bundle
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def test_ac11_open_returns_complete_bundle_with_correct_strategies(
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synthetic_video: Path,
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synthetic_tlog_path: Path,
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camera_calibration: CameraCalibration,
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fake_wgs_converter: mock.MagicMock,
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fake_fdr_client: mock.MagicMock,
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) -> None:
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# Arrange
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messages = _build_takeoff_messages()
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adapter = ReplayInputAdapter(
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video_path=synthetic_video,
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tlog_path=synthetic_tlog_path,
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camera_calibration=camera_calibration,
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target_fc_dialect=FcKind.ARDUPILOT_PLANE,
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wgs_converter=fake_wgs_converter,
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fdr_client=fake_fdr_client,
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pace=ReplayPace.ASAP,
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manual_time_offset_ms=0,
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auto_sync_config=AutoSyncConfig(),
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tlog_source_factory=_factory_for(messages),
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video_timestamps_factory=_video_timestamps_factory(),
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)
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# Act
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try:
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bundle = adapter.open()
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# Assert
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assert isinstance(bundle, ReplayInputBundle)
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assert isinstance(bundle.frame_source, VideoFileFrameSource)
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assert isinstance(bundle.fc_adapter, TlogReplayFcAdapter)
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assert isinstance(bundle.clock, TlogDerivedClock)
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assert bundle.resolved_time_offset_ms == 0
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# Manual path → no auto-sync result.
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assert bundle.auto_sync_result is None
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finally:
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adapter.close()
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def test_ac11_pace_realtime_yields_wall_clock(
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synthetic_video: Path,
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synthetic_tlog_path: Path,
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camera_calibration: CameraCalibration,
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fake_wgs_converter: mock.MagicMock,
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fake_fdr_client: mock.MagicMock,
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) -> None:
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# Arrange
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messages = _build_takeoff_messages()
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adapter = ReplayInputAdapter(
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video_path=synthetic_video,
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tlog_path=synthetic_tlog_path,
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camera_calibration=camera_calibration,
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target_fc_dialect=FcKind.ARDUPILOT_PLANE,
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wgs_converter=fake_wgs_converter,
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fdr_client=fake_fdr_client,
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pace=ReplayPace.REALTIME,
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manual_time_offset_ms=0,
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auto_sync_config=AutoSyncConfig(),
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tlog_source_factory=_factory_for(messages),
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video_timestamps_factory=_video_timestamps_factory(),
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)
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# Act
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try:
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bundle = adapter.open()
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# Assert
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assert isinstance(bundle.clock, WallClock)
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finally:
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adapter.close()
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def test_ac11_pace_asap_yields_tlog_derived_clock(
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synthetic_video: Path,
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synthetic_tlog_path: Path,
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camera_calibration: CameraCalibration,
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fake_wgs_converter: mock.MagicMock,
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fake_fdr_client: mock.MagicMock,
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) -> None:
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# Arrange
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messages = _build_takeoff_messages()
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adapter = ReplayInputAdapter(
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video_path=synthetic_video,
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tlog_path=synthetic_tlog_path,
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camera_calibration=camera_calibration,
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target_fc_dialect=FcKind.ARDUPILOT_PLANE,
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wgs_converter=fake_wgs_converter,
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fdr_client=fake_fdr_client,
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pace=ReplayPace.ASAP,
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manual_time_offset_ms=0,
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auto_sync_config=AutoSyncConfig(),
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tlog_source_factory=_factory_for(messages),
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video_timestamps_factory=_video_timestamps_factory(),
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)
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# Act
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try:
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bundle = adapter.open()
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# Assert
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assert isinstance(bundle.clock, TlogDerivedClock)
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finally:
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adapter.close()
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# ---------------------------------------------------------------------
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# AC-12 — idempotent close
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def test_ac12_close_is_idempotent(
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synthetic_video: Path,
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synthetic_tlog_path: Path,
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camera_calibration: CameraCalibration,
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fake_wgs_converter: mock.MagicMock,
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fake_fdr_client: mock.MagicMock,
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) -> None:
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# Arrange
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messages = _build_takeoff_messages()
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adapter = ReplayInputAdapter(
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video_path=synthetic_video,
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tlog_path=synthetic_tlog_path,
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camera_calibration=camera_calibration,
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target_fc_dialect=FcKind.ARDUPILOT_PLANE,
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wgs_converter=fake_wgs_converter,
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fdr_client=fake_fdr_client,
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pace=ReplayPace.ASAP,
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manual_time_offset_ms=0,
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auto_sync_config=AutoSyncConfig(),
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tlog_source_factory=_factory_for(messages),
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video_timestamps_factory=_video_timestamps_factory(),
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)
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adapter.open()
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# Act / Assert — both calls must complete without raising.
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adapter.close()
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adapter.close()
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def test_close_without_open_does_not_raise(
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synthetic_video: Path,
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synthetic_tlog_path: Path,
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camera_calibration: CameraCalibration,
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fake_wgs_converter: mock.MagicMock,
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fake_fdr_client: mock.MagicMock,
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) -> None:
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# Arrange
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adapter = ReplayInputAdapter(
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video_path=synthetic_video,
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tlog_path=synthetic_tlog_path,
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camera_calibration=camera_calibration,
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target_fc_dialect=FcKind.ARDUPILOT_PLANE,
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wgs_converter=fake_wgs_converter,
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fdr_client=fake_fdr_client,
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pace=ReplayPace.ASAP,
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manual_time_offset_ms=0,
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auto_sync_config=AutoSyncConfig(),
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)
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# Act / Assert
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adapter.close()
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# ---------------------------------------------------------------------
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# AC-13 — missing tlog messages fail fast
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def test_ac13_missing_imu_messages_fails_fast_before_video_read(
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synthetic_video: Path,
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synthetic_tlog_path: Path,
|
||||
camera_calibration: CameraCalibration,
|
||||
fake_wgs_converter: mock.MagicMock,
|
||||
fake_fdr_client: mock.MagicMock,
|
||||
) -> None:
|
||||
# Arrange — tlog has only ATTITUDE; no RAW_IMU / SCALED_IMU2.
|
||||
attitude_only = [
|
||||
_fake_msg("ATTITUDE", ts_s=t * 0.01, roll=0.0, pitch=0.0, yaw=0.0)
|
||||
for t in range(100)
|
||||
]
|
||||
adapter = ReplayInputAdapter(
|
||||
video_path=synthetic_video,
|
||||
tlog_path=synthetic_tlog_path,
|
||||
camera_calibration=camera_calibration,
|
||||
target_fc_dialect=FcKind.ARDUPILOT_PLANE,
|
||||
wgs_converter=fake_wgs_converter,
|
||||
fdr_client=fake_fdr_client,
|
||||
pace=ReplayPace.ASAP,
|
||||
manual_time_offset_ms=0,
|
||||
auto_sync_config=AutoSyncConfig(),
|
||||
tlog_source_factory=_factory_for(attitude_only),
|
||||
)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(
|
||||
ReplayInputAdapterError, match="tlog missing required message types"
|
||||
):
|
||||
adapter.open()
|
||||
|
||||
|
||||
def test_ac13_missing_attitude_messages_fails_fast(
|
||||
synthetic_video: Path,
|
||||
synthetic_tlog_path: Path,
|
||||
camera_calibration: CameraCalibration,
|
||||
fake_wgs_converter: mock.MagicMock,
|
||||
fake_fdr_client: mock.MagicMock,
|
||||
) -> None:
|
||||
# Arrange — tlog has only RAW_IMU; no ATTITUDE.
|
||||
imu_only = [
|
||||
_fake_msg(
|
||||
"RAW_IMU",
|
||||
ts_s=t * 0.005,
|
||||
xacc=0,
|
||||
yacc=0,
|
||||
zacc=-1000,
|
||||
xgyro=0,
|
||||
ygyro=0,
|
||||
zgyro=0,
|
||||
)
|
||||
for t in range(100)
|
||||
]
|
||||
adapter = ReplayInputAdapter(
|
||||
video_path=synthetic_video,
|
||||
tlog_path=synthetic_tlog_path,
|
||||
camera_calibration=camera_calibration,
|
||||
target_fc_dialect=FcKind.ARDUPILOT_PLANE,
|
||||
wgs_converter=fake_wgs_converter,
|
||||
fdr_client=fake_fdr_client,
|
||||
pace=ReplayPace.ASAP,
|
||||
manual_time_offset_ms=0,
|
||||
auto_sync_config=AutoSyncConfig(),
|
||||
tlog_source_factory=_factory_for(imu_only),
|
||||
)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(
|
||||
ReplayInputAdapterError, match=r"tlog missing required message types.*ATTITUDE"
|
||||
):
|
||||
adapter.open()
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# AC-8 — manual override bypasses auto-detect
|
||||
|
||||
|
||||
def test_ac8_manual_override_bypasses_auto_detect(
|
||||
synthetic_video: Path,
|
||||
synthetic_tlog_path: Path,
|
||||
camera_calibration: CameraCalibration,
|
||||
fake_wgs_converter: mock.MagicMock,
|
||||
fake_fdr_client: mock.MagicMock,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
# Arrange
|
||||
detect_calls: list[Any] = []
|
||||
|
||||
def _explode_if_called(*args: Any, **kwargs: Any) -> Any:
|
||||
detect_calls.append((args, kwargs))
|
||||
raise AssertionError(
|
||||
"auto-sync detector called even though manual_time_offset_ms was set"
|
||||
)
|
||||
|
||||
monkeypatch.setattr(
|
||||
"gps_denied_onboard.replay_input.tlog_video_adapter.detect_video_motion_onset",
|
||||
_explode_if_called,
|
||||
)
|
||||
|
||||
# Patch the take-off compute kernel referenced via the helper; the
|
||||
# coordinator's manual path must skip it entirely.
|
||||
monkeypatch.setattr(
|
||||
"gps_denied_onboard.replay_input.auto_sync._compute_tlog_takeoff_from_samples",
|
||||
_explode_if_called,
|
||||
)
|
||||
|
||||
messages = _build_takeoff_messages()
|
||||
adapter = ReplayInputAdapter(
|
||||
video_path=synthetic_video,
|
||||
tlog_path=synthetic_tlog_path,
|
||||
camera_calibration=camera_calibration,
|
||||
target_fc_dialect=FcKind.ARDUPILOT_PLANE,
|
||||
wgs_converter=fake_wgs_converter,
|
||||
fdr_client=fake_fdr_client,
|
||||
pace=ReplayPace.ASAP,
|
||||
manual_time_offset_ms=500,
|
||||
auto_sync_config=AutoSyncConfig(),
|
||||
tlog_source_factory=_factory_for(messages),
|
||||
video_timestamps_factory=_video_timestamps_factory(),
|
||||
)
|
||||
|
||||
# Act
|
||||
try:
|
||||
bundle = adapter.open()
|
||||
|
||||
# Assert — detector helpers were NOT invoked.
|
||||
assert detect_calls == []
|
||||
assert bundle.resolved_time_offset_ms == 500
|
||||
assert bundle.auto_sync_result is None
|
||||
finally:
|
||||
adapter.close()
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# AC-7 — AC-8 hard-fail raises
|
||||
|
||||
|
||||
def test_ac7_ac8_validator_hard_fail_raises_on_open(
|
||||
synthetic_video: Path,
|
||||
synthetic_tlog_path: Path,
|
||||
camera_calibration: CameraCalibration,
|
||||
fake_wgs_converter: mock.MagicMock,
|
||||
fake_fdr_client: mock.MagicMock,
|
||||
) -> None:
|
||||
# Arrange — manual offset of 60 s will push every video frame
|
||||
# outside the IMU coverage window (the fake tlog only carries
|
||||
# ~3.5 s of samples).
|
||||
messages = _build_takeoff_messages()
|
||||
adapter = ReplayInputAdapter(
|
||||
video_path=synthetic_video,
|
||||
tlog_path=synthetic_tlog_path,
|
||||
camera_calibration=camera_calibration,
|
||||
target_fc_dialect=FcKind.ARDUPILOT_PLANE,
|
||||
wgs_converter=fake_wgs_converter,
|
||||
fdr_client=fake_fdr_client,
|
||||
pace=ReplayPace.ASAP,
|
||||
manual_time_offset_ms=60_000,
|
||||
auto_sync_config=AutoSyncConfig(),
|
||||
tlog_source_factory=_factory_for(messages),
|
||||
video_timestamps_factory=_video_timestamps_factory(),
|
||||
)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(ReplayInputAdapterError, match="auto-sync hard-fail"):
|
||||
adapter.open()
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# AC-6 — low combined confidence WARN-and-proceed
|
||||
|
||||
|
||||
def test_ac6_low_confidence_warn_and_proceed_does_not_raise(
|
||||
synthetic_video: Path,
|
||||
synthetic_tlog_path: Path,
|
||||
camera_calibration: CameraCalibration,
|
||||
fake_wgs_converter: mock.MagicMock,
|
||||
fake_fdr_client: mock.MagicMock,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
caplog: pytest.LogCaptureFixture,
|
||||
) -> None:
|
||||
# Arrange — stub the detectors to return low-confidence results.
|
||||
from gps_denied_onboard.replay_input.auto_sync import _DetectorResult
|
||||
|
||||
low_conf = _DetectorResult(onset_ns=_ns(2.0), confidence=0.40)
|
||||
|
||||
def _stub_take_off(*args: Any, **kwargs: Any) -> _DetectorResult:
|
||||
return low_conf
|
||||
|
||||
def _stub_motion_onset(*args: Any, **kwargs: Any) -> _DetectorResult:
|
||||
return _DetectorResult(onset_ns=_ns(2.0), confidence=0.40)
|
||||
|
||||
monkeypatch.setattr(
|
||||
"gps_denied_onboard.replay_input.auto_sync._compute_tlog_takeoff_from_samples",
|
||||
_stub_take_off,
|
||||
)
|
||||
monkeypatch.setattr(
|
||||
"gps_denied_onboard.replay_input.tlog_video_adapter.detect_video_motion_onset",
|
||||
_stub_motion_onset,
|
||||
)
|
||||
|
||||
messages = _build_takeoff_messages()
|
||||
adapter = ReplayInputAdapter(
|
||||
video_path=synthetic_video,
|
||||
tlog_path=synthetic_tlog_path,
|
||||
camera_calibration=camera_calibration,
|
||||
target_fc_dialect=FcKind.ARDUPILOT_PLANE,
|
||||
wgs_converter=fake_wgs_converter,
|
||||
fdr_client=fake_fdr_client,
|
||||
pace=ReplayPace.ASAP,
|
||||
manual_time_offset_ms=None,
|
||||
auto_sync_config=AutoSyncConfig(),
|
||||
tlog_source_factory=_factory_for(messages),
|
||||
video_timestamps_factory=_video_timestamps_factory(),
|
||||
)
|
||||
|
||||
# Act
|
||||
caplog.set_level("WARNING", logger="replay_input.tlog_video_adapter")
|
||||
try:
|
||||
bundle = adapter.open()
|
||||
|
||||
# Assert — open() returned the bundle (didn't raise) and the
|
||||
# WARN log fired.
|
||||
assert bundle.auto_sync_result is not None
|
||||
assert bundle.auto_sync_result.combined_confidence == pytest.approx(0.40)
|
||||
warn_kinds = [
|
||||
r.kind for r in caplog.records if hasattr(r, "kind")
|
||||
]
|
||||
assert "replay.auto_sync.low_confidence" in warn_kinds
|
||||
finally:
|
||||
adapter.close()
|
||||
|
||||
|
||||
def test_ac11_resolved_offset_matches_auto_sync_result(
|
||||
synthetic_video: Path,
|
||||
synthetic_tlog_path: Path,
|
||||
camera_calibration: CameraCalibration,
|
||||
fake_wgs_converter: mock.MagicMock,
|
||||
fake_fdr_client: mock.MagicMock,
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
# Arrange — high-confidence stubs so AC-6 WARN does not fire.
|
||||
from gps_denied_onboard.replay_input.auto_sync import _DetectorResult
|
||||
|
||||
def _stub_take_off(*args: Any, **kwargs: Any) -> _DetectorResult:
|
||||
return _DetectorResult(onset_ns=_ns(2.0), confidence=0.95)
|
||||
|
||||
def _stub_motion_onset(*args: Any, **kwargs: Any) -> _DetectorResult:
|
||||
return _DetectorResult(onset_ns=_ns(0.333), confidence=0.95)
|
||||
|
||||
monkeypatch.setattr(
|
||||
"gps_denied_onboard.replay_input.auto_sync._compute_tlog_takeoff_from_samples",
|
||||
_stub_take_off,
|
||||
)
|
||||
monkeypatch.setattr(
|
||||
"gps_denied_onboard.replay_input.tlog_video_adapter.detect_video_motion_onset",
|
||||
_stub_motion_onset,
|
||||
)
|
||||
|
||||
messages = _build_takeoff_messages()
|
||||
adapter = ReplayInputAdapter(
|
||||
video_path=synthetic_video,
|
||||
tlog_path=synthetic_tlog_path,
|
||||
camera_calibration=camera_calibration,
|
||||
target_fc_dialect=FcKind.ARDUPILOT_PLANE,
|
||||
wgs_converter=fake_wgs_converter,
|
||||
fdr_client=fake_fdr_client,
|
||||
pace=ReplayPace.ASAP,
|
||||
manual_time_offset_ms=None,
|
||||
auto_sync_config=AutoSyncConfig(),
|
||||
tlog_source_factory=_factory_for(messages),
|
||||
video_timestamps_factory=_video_timestamps_factory(),
|
||||
)
|
||||
|
||||
# Act
|
||||
try:
|
||||
bundle = adapter.open()
|
||||
|
||||
# Assert
|
||||
expected_offset_ms = (_ns(2.0) - _ns(0.333)) // 1_000_000
|
||||
assert bundle.resolved_time_offset_ms == expected_offset_ms
|
||||
assert bundle.auto_sync_result is not None
|
||||
assert bundle.auto_sync_result.offset_ms == expected_offset_ms
|
||||
finally:
|
||||
adapter.close()
|
||||
Reference in New Issue
Block a user