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https://github.com/azaion/gps-denied-onboard.git
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[AZ-700] gps-denied-render-map: HTML map of estimated vs truth tracks
New operator-side console-script renders a self-contained HTML map (folium / Leaflet) comparing the estimator's JSONL track against the tlog ground-truth track. Pinned visual style: red truth + blue estimated polylines, start/end markers per track, 100 m + 50 m scale circles, optional AZ-699 accuracy-summary banner, and an --offline-tiles mode (with optional local tile-URL template) for Jetsons without internet. folium is gated behind a new [operator-tools] optional-dep so the airborne binary's cold-start NFR is unaffected (C12 binary doesn't import the new module). 14 new unit tests pin polyline count, marker count, scale-circle radii, summary embedding, offline-tile behaviour, and full CLI smoke. Zero mypy --strict errors. Refines the 2026-05-20 Jetson-only test policy: unit tests may run locally, e2e/perf/resilience/security stay Jetson-only. Documented in _docs/02_document/tests/environment.md (Where each tier runs) and .cursor/rules/testing.mdc (Test environment for this project). Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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"""AZ-700 — render_map CLI + HTML renderer unit tests.
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Covers AC-1 (CLI smoke + valid HTML), AC-2 (two distinct
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polylines), AC-3 (4 markers + 100 m + 50 m circles), and AC-4
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(summary embedding). AC-5 (offline-tiles flag) is exercised via a
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dedicated test.
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Folium is an optional dependency (``[operator-tools]`` group);
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these tests skip cleanly when it is not importable so the airborne
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test suite stays green even when the operator extra is absent.
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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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import json
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import struct
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from pathlib import Path
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import pytest
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folium = pytest.importorskip(
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"folium",
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reason="folium is an operator-only dep; install gps-denied-onboard[operator-tools]",
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)
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from gps_denied_onboard.cli.render_map import (
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RenderInputs,
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_build_argparser,
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load_estimated_track,
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load_ground_truth_track,
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main,
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render_map_html,
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)
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def _write_minimal_tlog(path: Path, fixes: list[tuple[float, float, float]]) -> None:
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"""Write a tiny binary tlog with ``GLOBAL_POSITION_INT`` only.
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Format: ``<u64 big-endian timestamp_us><MAVLink2 msg bytes>``,
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repeated. ``load_tlog_ground_truth`` ignores everything except
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``GLOBAL_POSITION_INT`` / ``GPS_RAW_INT``, so the minimal schema
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is just one ``GLOBAL_POSITION_INT`` per fix.
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"""
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from pymavlink.dialects.v20 import ardupilotmega as mavlink
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mav = mavlink.MAVLink(file=None, srcSystem=1, srcComponent=1)
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with path.open("wb") as fp:
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for i, (lat, lon, alt) in enumerate(fixes):
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time_boot_ms = i * 500
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msg = mav.global_position_int_encode(
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time_boot_ms=time_boot_ms,
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lat=int(lat * 1e7),
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lon=int(lon * 1e7),
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alt=int(alt * 1000),
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relative_alt=int(alt * 1000),
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vx=0,
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vy=0,
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vz=0,
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hdg=0,
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)
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payload = msg.pack(mav)
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ts_us = i * 500_000
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fp.write(struct.pack(">Q", ts_us))
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fp.write(payload)
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# ---------------------------------------------------------------------
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# Helpers
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def _write_jsonl(path: Path, rows: list[dict[str, object]]) -> None:
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path.write_text("\n".join(json.dumps(r) for r in rows) + "\n")
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def _example_inputs() -> RenderInputs:
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return RenderInputs(
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estimated_track=[
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(50.0, 30.0),
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(50.001, 30.001),
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(50.002, 30.002),
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],
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truth_track=[
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(50.0, 30.0),
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(50.0005, 30.0005),
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(50.001, 30.001),
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],
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summary_markdown=None,
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title="unit-test",
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)
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# ---------------------------------------------------------------------
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# load_estimated_track / load_ground_truth_track
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def test_load_estimated_track_skips_blank_lines(tmp_path: Path) -> None:
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# Arrange
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path = tmp_path / "out.jsonl"
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path.write_text(
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'{"position_wgs84":{"lat_deg":50.0,"lon_deg":30.0,"alt_m":100}}\n'
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"\n"
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'{"position_wgs84":{"lat_deg":50.1,"lon_deg":30.1,"alt_m":110}}\n'
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)
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# Act
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track = load_estimated_track(path)
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# Assert
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assert track == [(50.0, 30.0), (50.1, 30.1)]
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def test_load_estimated_track_raises_on_missing_position(tmp_path: Path) -> None:
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# Arrange
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path = tmp_path / "out.jsonl"
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path.write_text('{"frame_id":1}\n')
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# Act / Assert
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with pytest.raises(ValueError, match="missing position_wgs84"):
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load_estimated_track(path)
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def test_load_estimated_track_raises_on_non_numeric_lat(tmp_path: Path) -> None:
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# Arrange
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path = tmp_path / "out.jsonl"
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path.write_text(
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'{"position_wgs84":{"lat_deg":"oops","lon_deg":30.0}}\n'
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)
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# Act / Assert
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with pytest.raises(ValueError, match="non-numeric lat/lon"):
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load_estimated_track(path)
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# ---------------------------------------------------------------------
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# render_map_html
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def test_render_map_html_emits_two_polylines() -> None:
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# Act
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html = render_map_html(_example_inputs())
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# Assert — AC-2: two distinct polyline layers with our pinned colors.
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assert html.count("L.polyline") == 2, (
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"expected exactly 2 polylines (truth + estimated); "
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f"saw {html.count('L.polyline')}"
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)
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assert '"color": "red"' in html, "truth polyline (red) missing"
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assert '"color": "blue"' in html, "estimated polyline (blue) missing"
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def test_render_map_html_emits_four_markers_and_two_circles() -> None:
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# Act
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html = render_map_html(_example_inputs())
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# Assert — AC-3: 2 markers per track (start + end) = 4 total.
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assert html.count("L.marker") == 4, (
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f"expected 4 markers; saw {html.count('L.marker')}"
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)
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# Scale circles at the truth start: radius 100 + 50.
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assert html.count("L.circle") == 2, (
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f"expected 2 scale circles (100 m + 50 m); "
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f"saw {html.count('L.circle')}"
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)
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assert '"radius": 100.0' in html
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assert '"radius": 50.0' in html
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def test_render_map_html_embeds_summary_when_provided() -> None:
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# Arrange
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inputs = RenderInputs(
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estimated_track=[(50.0, 30.0), (50.001, 30.001)],
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truth_track=[(50.0, 30.0), (50.0005, 30.0005)],
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summary_markdown=(
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"# Real-flight validation — 2026-05-20\n"
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"**Verdict**: PASS\n"
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"| Mean | 12.3 |"
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),
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title="t",
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)
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# Act
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html = render_map_html(inputs)
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# Assert — AC-4: the markdown body shows up in the HTML.
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assert "Real-flight validation" in html
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assert "**Verdict**: PASS" in html # noqa: E501 — escape allowed since `*` is not HTML-special
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# HTML special chars are escaped — pipe characters stay raw, but
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# the angle brackets used in markdown's emphasis would. We don't
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# want script injection, so confirm the wrapper div is present.
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assert "white-space:pre-wrap" in html
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def test_render_map_html_raises_on_both_tracks_empty() -> None:
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# Arrange
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inputs = RenderInputs(
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estimated_track=[],
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truth_track=[],
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summary_markdown=None,
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title="empty",
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)
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# Act / Assert
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with pytest.raises(ValueError, match="empty"):
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render_map_html(inputs)
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def test_render_map_html_offline_tiles_omits_openstreetmap() -> None:
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# Act
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html_default = render_map_html(_example_inputs())
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html_offline = render_map_html(_example_inputs(), offline_tiles=True)
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# Assert — `tiles=None` removes the default OpenStreetMap tile URL.
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assert "openstreetmap" in html_default.lower()
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assert "openstreetmap" not in html_offline.lower()
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def test_render_map_html_offline_tiles_template_uses_local_url() -> None:
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# Act
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html = render_map_html(
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_example_inputs(),
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offline_tiles_template="file:///opt/tiles/{z}/{x}/{y}.png",
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)
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# Assert
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assert "file:///opt/tiles/{z}/{x}/{y}.png" in html
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assert "local offline tile bundle" in html
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# ---------------------------------------------------------------------
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# CLI smoke (AC-1)
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def test_cli_writes_html_with_default_tiles(tmp_path: Path) -> None:
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# Arrange
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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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truth = tmp_path / "synth.tlog"
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_write_minimal_tlog(
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truth,
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[(50.0, 30.0, 100.0), (50.0005, 30.0005, 100.0), (50.001, 30.001, 100.0)],
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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(truth),
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"--output", str(output),
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]
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)
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# Assert — AC-1: clean exit + non-empty HTML.
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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 len(body) > 1000
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def test_cli_embeds_summary_when_flag_supplied(tmp_path: Path) -> None:
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# Arrange
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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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truth = tmp_path / "synth.tlog"
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_write_minimal_tlog(truth, [(50.0, 30.0, 100.0), (50.001, 30.001, 100.0)])
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summary = tmp_path / "real_flight_validation_2026-05-20.md"
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summary.write_text(
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"# Real-flight validation — 2026-05-20\n"
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"**Verdict**: FAIL\n\n"
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"## Horizontal error (metres)\n"
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"| Mean | 142.5 |\n"
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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(truth),
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"--output", str(output),
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"--summary", str(summary),
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]
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)
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# Assert — AC-4
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assert rc == 0
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body = output.read_text()
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assert "Real-flight validation" in body
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assert "**Verdict**: FAIL" in body
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assert "Mean | 142.5" in body
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def test_cli_fails_fast_when_summary_path_missing(tmp_path: Path) -> None:
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# Arrange
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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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],
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)
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truth = tmp_path / "synth.tlog"
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_write_minimal_tlog(truth, [(50.0, 30.0, 100.0), (50.001, 30.001, 100.0)])
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output = tmp_path / "map.html"
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missing_summary = tmp_path / "does_not_exist.md"
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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(truth),
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"--output", str(output),
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"--summary", str(missing_summary),
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]
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)
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# Assert
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assert rc == 2
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assert not output.exists(), "must not write the map when summary path is invalid"
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def test_argparser_requires_three_paths() -> None:
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# Arrange
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parser = _build_argparser()
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# Act / Assert
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with pytest.raises(SystemExit):
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parser.parse_args([])
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with pytest.raises(SystemExit):
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parser.parse_args(["--estimated", "/tmp/a.jsonl"])
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# ---------------------------------------------------------------------
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# load_ground_truth_track integration with AZ-697
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def test_load_ground_truth_track_returns_lat_lon_pairs(tmp_path: Path) -> None:
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# Arrange — synthesize a minimal tlog and round-trip through AZ-697.
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tlog_path = tmp_path / "synth.tlog"
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_write_minimal_tlog(
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tlog_path,
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[(50.000, 30.000, 100.0), (50.001, 30.001, 101.0), (50.002, 30.002, 102.0)],
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)
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# Act
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track = load_ground_truth_track(tlog_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 49.99 < lat < 50.01
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assert 29.99 < lon < 30.01
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