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update tests
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Oleksandr Bezdieniezhnykh
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# Integration Test: Flight Processing Engine (F02.2)
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## Summary
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Validate the Flight Processing Engine component responsible for the main processing loop, frame-by-frame orchestration, recovery coordination, and chunk management.
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## Component Under Test
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**Component**: Flight Processing Engine (F02.2)
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**Interface**: `IFlightProcessingEngine`
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**Dependencies**:
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- F05 Image Input Pipeline (image source)
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- F06 Image Rotation Manager (pre-processing)
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- F07 Sequential Visual Odometry (motion estimation)
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- F09 Metric Refinement (satellite alignment)
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- F10 Factor Graph Optimizer (state estimation)
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- F11 Failure Recovery Coordinator (recovery logic)
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- F12 Route Chunk Manager (chunk state)
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- F14 Result Manager (saving results)
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- F15 SSE Event Streamer (real-time updates)
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## Detailed Description
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This test validates that the Flight Processing Engine can:
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1. Run the main processing loop (Image → VO → Graph → Result)
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2. Manage flight status (Processing, Blocked, Recovering, Completed)
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3. Coordinate chunk lifecycle with F12
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4. Handle tracking loss and delegate to F11
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5. Apply user fixes and resume processing
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6. Publish results via F14/F15
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7. Manage background chunk matching tasks
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8. Handle concurrent processing gracefully
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The Processing Engine runs in a background thread per active flight.
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## Input Data
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### Test Case 1: Start Processing
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- **Flight**: Test_Baseline_Flight with 10 queued images
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- **Action**: Call start_processing(flight_id)
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- **Expected**:
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- Background processing thread started
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- First image retrieved from F05
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- Processing loop begins
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### Test Case 2: Stop Processing
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- **Flight**: Active flight with processing in progress
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- **Action**: Call stop_processing(flight_id)
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- **Expected**:
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- Processing loop stopped gracefully
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- Current frame completed or cancelled
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- State saved
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### Test Case 3: Process Single Frame (Normal)
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- **Input**: Single frame with good tracking
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- **Expected**:
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- F06.requires_rotation_sweep() checked
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- F07.compute_relative_pose() called
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- F12.add_frame_to_chunk() called
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- F10.add_relative_factor() called
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- F10.optimize_chunk() called
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- F14.update_frame_result() called
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- SSE event sent
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### Test Case 4: Process Frame (First Frame / Sharp Turn)
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- **Input**: First frame or frame after sharp turn
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- **Expected**:
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- F06.requires_rotation_sweep() returns True
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- F06.rotate_image_360() called (12 rotations)
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- F09.align_to_satellite() called for each rotation
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- Best rotation selected
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- Heading updated
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### Test Case 5: Process Frame (Tracking Lost)
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- **Input**: Frame with low VO confidence
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- **Expected**:
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- F11.check_confidence() returns LOST
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- F11.create_chunk_on_tracking_loss() called
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- New chunk created proactively
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- handle_tracking_loss() invoked
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### Test Case 6: Handle Tracking Loss (Progressive Search)
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- **Input**: Frame with tracking lost, recoverable
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- **Expected**:
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- F11.start_search() called
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- F11.try_current_grid() called iteratively
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- Grid expansion (1→4→9→16→25)
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- Match found, F11.mark_found() called
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- Processing continues
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### Test Case 7: Handle Tracking Loss (User Input Needed)
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- **Input**: Frame with tracking lost, not recoverable
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- **Expected**:
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- Progressive search exhausted (25 tiles)
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- F11.create_user_input_request() called
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- Engine receives UserInputRequest
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- F15.send_user_input_request() called
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- Status set to BLOCKED
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- Processing paused
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### Test Case 8: Apply User Fix
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- **Input**: UserFixRequest with GPS anchor
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- **Action**: Call apply_user_fix(flight_id, fix_data)
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- **Expected**:
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- F11.apply_user_anchor() called
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- Anchor applied to factor graph
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- Status set to PROCESSING
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- Processing loop resumes
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### Test Case 9: Get Active Chunk
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- **Flight**: Active flight with chunks
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- **Action**: Call get_active_chunk(flight_id)
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- **Expected**:
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- F12.get_active_chunk() called
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- Returns current active chunk or None
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### Test Case 10: Create New Chunk
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- **Input**: Tracking loss detected
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- **Action**: Call create_new_chunk(flight_id, frame_id)
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- **Expected**:
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- F12.create_chunk() called
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- New chunk created in factor graph
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- Returns ChunkHandle
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### Test Case 11: Process Flight (Full - Normal)
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- **Flight**: 30 images (AD000001-030)
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- **Expected**:
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- All 30 images processed
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- Status transitions: Processing → Completed
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- Results published for all frames
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- Processing time < 150 seconds (5s per image)
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### Test Case 12: Process Flight (With Sharp Turn)
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- **Flight**: AD000042, AD000044, AD000045, AD000046 (skip AD000043)
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- **Expected**:
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- Tracking lost at AD000044
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- New chunk created
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- Recovery succeeds (L2/L3)
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- Flight completes
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### Test Case 13: Process Flight (With Outlier)
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- **Flight**: AD000045-050 (includes 268m outlier)
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- **Expected**:
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- Outlier detected by factor graph
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- Robust kernel handles outlier
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- Other images processed correctly
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### Test Case 14: Process Flight (Long)
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- **Flight**: All 60 images (AD000001-060)
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- **Expected**:
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- Processing completes
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- Registration rate > 95% (AC-9)
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- Processing time < 300 seconds (AC-7)
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### Test Case 15: Background Chunk Matching
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- **Flight**: Flight with multiple unanchored chunks
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- **Expected**:
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- Background task processes chunks
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- F11.process_unanchored_chunks() called periodically
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- Chunks matched and merged asynchronously
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- Frame processing not blocked
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### Test Case 16: State Persistence and Recovery
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- **Scenario**:
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- Process 15 frames
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- Simulate restart
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- Resume processing
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- **Expected**:
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- State saved to F03 before restart
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- State restored on resume
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- Processing continues from frame 16
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## Expected Output
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For each frame processed:
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```json
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{
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"flight_id": "string",
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"frame_id": <integer>,
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"status": "processed|failed|skipped|blocked",
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"gps": {
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"latitude": <float>,
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"longitude": <float>
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},
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"confidence": <float>,
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"chunk_id": "string",
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"processing_time_ms": <float>
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}
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```
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## Success Criteria
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**Test Cases 1-2 (Start/Stop)**:
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- Processing starts/stops correctly
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- No resource leaks
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- Graceful shutdown
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**Test Cases 3-5 (Frame Processing)**:
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- Correct components called in order
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- State updates correctly
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- Results published
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**Test Cases 6-8 (Recovery)**:
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- Progressive search works
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- User input flow works
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- Recovery successful
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**Test Cases 9-10 (Chunk Management)**:
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- Chunks created/managed correctly
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- F12 integration works
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**Test Cases 11-14 (Full Flights)**:
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- All acceptance criteria met
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- Processing completes successfully
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**Test Cases 15-16 (Background/Recovery)**:
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- Background tasks work
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- State persistence works
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## Maximum Expected Time
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- Start/stop processing: < 500ms
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- Process single frame: < 5 seconds (AC-7)
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- Handle tracking loss: < 2 seconds
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- Apply user fix: < 1 second
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- Process 30 images: < 150 seconds
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- Process 60 images: < 300 seconds
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- Total test suite: < 600 seconds
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## Pass/Fail Criteria
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**Overall Test Passes If**:
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- All 16 test cases pass
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- Processing loop works correctly
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- Recovery mechanisms work
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- Chunk management works
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- Performance targets met
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**Test Fails If**:
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- Processing loop crashes
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- Recovery fails when it should succeed
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- User input not requested when needed
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- Performance exceeds 5s per image
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- State persistence fails
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