mirror of
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
@@ -13,3 +13,11 @@ globs: ["**/*test*", "**/*spec*", "**/*Test*", "**/tests/**", "**/test/**"]
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- Never use Thread Sleep or fixed delays in tests; use polling or async waits
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- Keep test data factories/builders for reusable test setup
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- Tests must be independent: no shared mutable state between tests
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## Test environment (this project)
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- **Unit tests** (`tests/unit/`): may run locally on the dev workstation (`pytest tests/unit/` in the project venv). Local PASS is equivalent to Jetson PASS for this tier because the suite is fully synthetic.
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- **Blackbox / e2e / performance / resilience / security / resource-limit** tests (`tests/e2e/`, `e2e/tests/`, `tests/perf/`, …): MUST run on the Jetson Orin Nano Super (or a Jetson-equivalent arm64 agent). Use `scripts/run-tests-jetson.sh` for local dev; CI runs `.woodpecker/01-test.yml` on the colocated arm64 Jetson Woodpecker agent.
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- Do NOT run e2e tests on the local workstation and report the result. If the Jetson is unreachable, the e2e verdict is "not run" — record the gap in `_docs/_process_leftovers/` rather than substituting a local result.
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- Tests gated by `RUN_REPLAY_E2E` or `@pytest.mark.tier2` are expected to SKIP locally; that is correct behaviour, not a failure to investigate.
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- Canonical source for this policy: `_docs/02_document/tests/environment.md` § Where each tier runs (active policy).
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@@ -1,17 +1,40 @@
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# Test Environment
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> **Active policy — 2026-05-20**: **all tests run on Jetson only.** The Jetson
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> Orin Nano Super (or a Jetson-equivalent arm64 agent) is the single canonical
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> test environment for every tier of testing — unit, integration, blackbox /
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> e2e, performance, resilience, security, resource-limit. Workstation x86
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> Docker (the historical "Tier-1" path) is **deprecated** and is not a
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> supported test environment going forward; the Tier-1 sections below are
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> retained as historical reference / traceability only. CI test pipelines
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> target the colocated arm64 Jetson Woodpecker agent (see
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> `_docs/04_deploy/ci_cd_pipeline.md`); local-development test runs SHOULD
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> use `scripts/run-tests-jetson.sh` against the configured `jetson-e2e` SSH
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> alias rather than `scripts/run-tests.sh`. This decision supersedes the
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> 2026-05-09 "both" decision recorded in the § Test Execution section.
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> **Active policy — 2026-05-20 (refined)**: the canonical CI / release-gate
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> test environment is the Jetson Orin Nano Super (or a Jetson-equivalent
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> arm64 agent). **Unit tests** (`pytest tests/unit/`) MAY be run on a local
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> developer workstation for fast iteration — they are hardware-agnostic by
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> construction, the suite is fully synthetic, and Jetson SSH round-trips add
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> latency without adding signal. **Blackbox / e2e / performance / resilience
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> / security / resource-limit tests** (`tests/e2e/`, `e2e/tests/`,
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> `tests/perf/`, etc.) MUST run on the Jetson — never on a local workstation
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> — because their pass criteria are tied to Jetson wall-clock latency,
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> thermal envelope, and the real-camera + real-FC SITL loop. Workstation x86
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> Docker (the historical "Tier-1" path) is **deprecated** as a supported
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> e2e environment; the Tier-1 sections below are retained as historical
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> reference / traceability only. CI e2e pipelines target the colocated
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> arm64 Jetson Woodpecker agent (see `_docs/04_deploy/ci_cd_pipeline.md`);
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> local-development e2e runs SHOULD use `scripts/run-tests-jetson.sh`
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> against the configured `jetson-e2e` SSH alias rather than
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> `scripts/run-tests.sh`. This refinement supersedes the 2026-05-20 "all
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> tiers on Jetson" wording and the 2026-05-09 "both" decision recorded in
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> the § Test Execution section.
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## Where each tier runs (active policy)
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| Tier | Local workstation | Jetson (canonical) | When local is the only option |
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|------|--------------------|--------------------|-------------------------------|
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| Unit (`tests/unit/`) | ✅ allowed and encouraged for dev iteration | ✅ also run as part of the Jetson CI lane | always |
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| Blackbox / e2e (`tests/e2e/`, `e2e/tests/`) | ❌ forbidden — placeholder fixtures + missing hardware = false-negative runs | ✅ required for any merge / release decision | never — if Jetson is unreachable, the e2e verdict is "not run" rather than a local result |
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| Performance / resilience / security / resource-limit | ❌ forbidden | ✅ required | never |
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| Thermal chamber (AC-NEW-5) | ❌ forbidden | ✅ chamber Jetson only | never |
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Practical consequences:
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- A PR may merge on green local unit tests + green Jetson e2e tests.
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- A PR MAY NOT merge on green local unit tests alone — the Jetson e2e lane is the binding signal.
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- When the Jetson agent is offline, the e2e verdict is "pending Jetson" — record the gap (e.g. via `_docs/_process_leftovers/`) rather than substituting a local run.
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- Tests in `tests/e2e/` that gate on `RUN_REPLAY_E2E` or `@pytest.mark.tier2` will SKIP locally; this is correct behaviour, not a failure to investigate.
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## Overview
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@@ -263,11 +286,21 @@ The captured-fixture builder framework (`e2e/fixtures/sitl_replay_builder/`) reg
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## Test Execution
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**Decision (2026-05-20)** — **Jetson only.** Supersedes the 2026-05-09 "both" decision below. All tests (unit, integration, blackbox / e2e, performance, resilience, security, resource-limit) run on the Jetson Orin Nano Super (or a Jetson-equivalent arm64 agent). The workstation x86 Docker path is deprecated. Rationale captured in `_docs/LESSONS.md` (2026-05-20 entry): repeated workstation-vs-Jetson environment divergences (Dockerfile build order, missing `libgl1`, gtsam wheel availability, venv symlink resolution, lazy-import side-effect registration) were producing false-negative test runs and consuming engineering time without ever exercising the production-equivalent hardware path.
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**Decision (2026-05-20, refined later that day)** — **Jetson is the binding e2e environment; unit tests may run locally.** This refines the earlier "Jetson only for everything" wording. Rationale captured in `_docs/LESSONS.md` (2026-05-20 entries):
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- The original "Jetson-only across all tiers" decision came from repeated workstation-vs-Jetson environment divergences in the e2e / build path (Dockerfile build order, missing `libgl1`, gtsam wheel availability, venv symlink resolution, lazy-import side-effect registration). Those divergences are real and continue to justify Jetson as the binding e2e environment.
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- Forcing the unit-test suite over an SSH-orchestrated Jetson loop added 30–90 s per iteration without producing any signal the local interpreter doesn't already produce. The unit suite is fully synthetic — no camera, no SITL, no Jetson-specific runtime — so a local PASS is equivalent to a Jetson PASS for that tier.
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**Operational entry points**:
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- Local-development: `scripts/run-tests-jetson.sh` against the configured `jetson-e2e` SSH alias (see `_docs/03_implementation/jetson_harness_setup.md` for one-time setup).
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- CI: `.woodpecker/01-test.yml` on the colocated arm64 Jetson agent (see `_docs/04_deploy/ci_cd_pipeline.md`).
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| Tier | Entry point | Where it runs |
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|------|-------------|---------------|
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| Unit (`tests/unit/`) | `pytest tests/unit/ -q` directly, or `scripts/run-tests.sh` | local workstation (Python 3.10+ venv) |
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| Blackbox / e2e (`tests/e2e/`, `e2e/tests/`) | `scripts/run-tests-jetson.sh` (local dev) / `.woodpecker/01-test.yml` (CI) | colocated arm64 Jetson Woodpecker agent — see `_docs/04_deploy/ci_cd_pipeline.md` |
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| Performance / resilience / security / resource-limit | same as e2e | Jetson only |
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| AC-NEW-5 thermal chamber | quarterly + pre-release | `self-hosted-jetson-orin-chamber` |
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A green local unit-test run is necessary-but-not-sufficient for merge; the Jetson e2e lane is the binding signal.
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The remainder of this section preserves the original 2026-05-09 decision context for traceability.
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+40
@@ -106,3 +106,43 @@ Then tile loading uses a documented fallback (or fails fast with a clear error i
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**Risk 2: CDN dependency at render time**
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- *Risk*: Default folium uses Leaflet via CDN — fails on offline Jetsons.
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- *Mitigation*: Document `--offline-tiles` flag; provide bundled assets path or fail-fast.
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---
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## Implementation Notes (Batch 101 — Cycle 2)
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**Status**: In Testing (Jira AZ-700).
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### Files changed
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Production:
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- `src/gps_denied_onboard/cli/render_map.py` — new module: `RenderInputs` DTO, `render_map_html`, `load_estimated_track`, `load_ground_truth_track`, argparse CLI, `main()`.
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- `pyproject.toml` — new `[project.optional-dependencies] operator-tools = ["folium>=0.16,<1.0"]` group; new console script `gps-denied-render-map = "gps_denied_onboard.cli.render_map:main"`.
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Tests:
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- `tests/unit/test_az700_render_map.py` — 14 unit tests covering JSONL parsing, HTML rendering (2 polylines, 4 markers, 2 scale circles, summary embed, offline-tiles toggle), and CLI smoke including a minimal binary-tlog helper.
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### AC coverage
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| AC | Test / Artefact | Result |
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| ---- | ---------------------------------------------------------------------------------------- | ------ |
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| AC-1 | `test_cli_writes_html_with_default_tiles` | PASS (local). The Jetson e2e visual smoke is `AC-4` and is operator-driven on Tier-2. |
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| AC-2 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles` | PASS |
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| AC-3 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles` | PASS — output HTML contains exactly 2 polyline layers (red + blue) and 4 markers + 2 scale circles. |
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| AC-4 | Visual smoke on Tier-2 Jetson (operator opens `map.html` produced by AZ-699's e2e run) | DEFERRED to Jetson — wired and ready. |
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| AC-5 | `test_render_map_html_offline_tiles_omits_openstreetmap`, `…_template_uses_local_url` | PASS |
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### Test results
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`pytest tests/unit/test_az700_render_map.py` → 14 passed in 2.5 s. Wider regression slice (AZ-697/698/699/700 + replay_input + calibration): 107 passed, 1 skipped (pre-existing AC-5 e2e smoke that needs real video).
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### Strict typing
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`mypy --strict src/gps_denied_onboard/cli/render_map.py` → **Success: no issues found in 1 source file.** Used `# type: ignore[import-untyped, import-not-found, unused-ignore]` on the lazy folium import so the strict pass is clean whether folium is installed or not.
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### Design notes
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- folium 0.20 (the latest in the pinned range) was used. The default tile provider is OpenStreetMap (`tiles="OpenStreetMap"`); the AC-5 `--offline-tiles` flag drops the base layer entirely, and `--offline-tiles-template` accepts a local tile-URL template for operators with a bundled tile pack.
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- folium is lazy-imported inside `_import_folium()` so the airborne binary (which does NOT install `[operator-tools]`) doesn't pay for it on cold start. The C12 cold-start NFR is unaffected.
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- The `_write_minimal_tlog` test helper builds a binary tlog with just `GLOBAL_POSITION_INT` records — that's the minimum AZ-697 needs — without coupling the test to the full Derkachi CSV schema used by `tests/e2e/replay/_tlog_synth.py`.
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- All AZ-700 unit tests run locally per the refined test-environment policy (`_docs/02_document/tests/environment.md` § Where each tier runs); the Tier-2 visual-smoke AC-4 stays on the Jetson.
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@@ -0,0 +1,93 @@
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# Batch 101 — Cycle 2 — AZ-700
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**Date**: 2026-05-20
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**Tasks**: AZ-700 (replay map visualization).
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**Story points**: 3.
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**Jira status**: AZ-700 → `In Testing`.
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## What shipped
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A new operator-side console-script `gps-denied-render-map` that
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renders a self-contained HTML map (folium / Leaflet) of the
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estimator's track vs the tlog ground-truth track, with start/end
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markers, 100 m + 50 m scale circles, optional summary banner from
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AZ-699, and an `--offline-tiles` mode for Jetsons without internet
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access.
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folium is gated behind a new `[operator-tools]` optional-dependency
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group so the airborne binary never pays for it.
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## Files changed
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Production (2):
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- `src/gps_denied_onboard/cli/render_map.py` (new)
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- `pyproject.toml` (new optional-deps group + console script)
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Tests (1):
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- `tests/unit/test_az700_render_map.py` (14 tests, all PASS local)
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Docs:
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- `_docs/02_document/tests/environment.md` — refined the 2026-05-20
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"Jetson-only" policy to: unit tests local-OK, e2e Jetson-only.
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- `.cursor/rules/testing.mdc` — added the refined policy as an
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always-applied agent rule.
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- `_docs/02_tasks/done/AZ-700_replay_map_visualization.md` —
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Implementation Notes appended; moved from `todo/`.
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## AC coverage
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| AC | Test / Artefact | Result |
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| ---- | ---------------------------------------------------------------------------------------- | ------ |
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| AC-1 | `test_cli_writes_html_with_default_tiles` | PASS (local). |
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| AC-2 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles` | PASS |
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| AC-3 | `test_render_map_html_emits_two_polylines`, `…emits_four_markers_and_two_circles` | PASS — exactly 2 polylines + 4 markers + 2 scale circles. |
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| AC-4 | Visual smoke on Tier-2 Jetson with operator-opened `map.html` | DEFERRED to Jetson (correctly per refined test-env policy). |
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| AC-5 | `test_render_map_html_offline_tiles_omits_openstreetmap`, `…_template_uses_local_url` | PASS |
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## Test run
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```
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tests/unit/test_az700_render_map.py 14 PASS in 2.5 s
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Wider regression slice 107 PASS 1 SKIP
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```
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The 1 skipped test is the pre-existing AZ-698 AC-5 e2e smoke
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(needs the real video in `_docs/00_problem/input_data/flight_derkachi/`).
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## Strict typing
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```
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mypy --strict src/gps_denied_onboard/cli/render_map.py
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→ Success: no issues found in 1 source file.
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```
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The lazy folium import uses
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`# type: ignore[import-untyped, import-not-found, unused-ignore]`
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so strict passes cleanly whether or not `[operator-tools]` is
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installed.
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## Refined test-environment policy
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Mid-batch the user clarified the existing "Jetson-only across all
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tiers" policy: **unit tests may run locally, e2e tests stay
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Jetson-only.** Rationale: the unit suite is fully synthetic, so a
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local PASS = Jetson PASS for that tier; the e2e suite is bound to
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Jetson hardware / latency / SITL and a local run is meaningless.
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Captured in:
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- `_docs/02_document/tests/environment.md` — banner + new
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"Where each tier runs (active policy)" table + Test Execution
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section rewritten.
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- `.cursor/rules/testing.mdc` — appended "Test environment (this
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project)" section so future agent sessions cannot drift back to
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running e2e locally.
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## Next batch
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Batch 102 — **AZ-701** (HTTP replay API service). Depends on
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AZ-697 (truth source) and AZ-699 (report writer). Last task in
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cycle 2.
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@@ -8,8 +8,8 @@ status: in_progress
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sub_step:
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phase: 6
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name: implement-tasks-sequentially
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detail: "batch 101 of ~102: AZ-700"
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detail: "batch 102 of ~102: AZ-701"
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retry_count: 0
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cycle: 2
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tracker: jira
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last_completed_batch: 100
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last_completed_batch: 101
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@@ -130,9 +130,18 @@ telemetry = [
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"jetson-stats>=4.2",
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"pynvml>=11.5",
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]
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# AZ-700: operator-side post-flight analysis tools. NOT installed on
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# the airborne binary (folium pulls ~5 MB of JS + Leaflet assets that
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# regress the cold-start NFR if pulled into the runtime image).
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# Activate with `pip install gps-denied-onboard[operator-tools]` on
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# a developer / analyst workstation.
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operator-tools = [
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"folium>=0.16,<1.0",
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]
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[project.scripts]
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gps-denied-replay = "gps_denied_onboard.cli.replay:main"
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gps-denied-render-map = "gps_denied_onboard.cli.render_map:main"
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operator-orchestrator = "gps_denied_onboard.components.c12_operator_orchestrator.cli:main"
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[tool.setuptools]
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@@ -0,0 +1,370 @@
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"""AZ-700 ``gps-denied-render-map`` console-script.
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Renders a self-contained HTML map (folium / Leaflet) comparing the
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estimated GPS track (from a `gps-denied-replay` JSONL run) against
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the tlog ground-truth track (binary tlog via AZ-697). Output is a
|
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single shareable HTML file with two distinct polyline layers,
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start/end markers, scale circles for visual reference, and an
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optional accuracy-summary banner from AZ-699.
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This module lives under ``cli/`` rather than ``components/`` because
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it is an operator-side post-flight analysis tool — it never runs
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inside the airborne loop. folium is an optional dependency
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(``[operator-tools]``) so the airborne binary's cold-start NFR is
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unaffected.
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Style: small functions, pure renderers; the I/O (subprocess argv +
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file writes) lives at the edges so unit tests can exercise the
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rendering pipeline without invoking the CLI.
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"""
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from __future__ import annotations
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import argparse
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import json
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import sys
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from collections.abc import Iterable
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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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__all__ = [
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"RenderInputs",
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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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# Default tile provider. folium uses OpenStreetMap when ``tiles`` is
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# ``"OpenStreetMap"`` (its built-in alias) or a literal URL template
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||||
# is passed via the local-offline-tiles knob. AC-5 of AZ-700 allows
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# fail-fast when neither online nor local tiles are configured.
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_DEFAULT_TILES_NAME: str = "OpenStreetMap"
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# Visual style. Pinned so the AC-2/AC-3 HTML scans are stable across
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# folium upgrades (folium emits ``L.polyline([...], {color: '...'})``).
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_TRUTH_LINE_COLOR: str = "red"
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_ESTIMATED_LINE_COLOR: str = "blue"
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_TRUTH_START_COLOR: str = "green"
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_TRUTH_END_COLOR: str = "black"
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_ESTIMATED_START_COLOR: str = "lightgreen"
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_ESTIMATED_END_COLOR: str = "gray"
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@dataclass(frozen=True)
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class RenderInputs:
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"""Pre-parsed inputs for :func:`render_map_html`.
|
||||
|
||||
Attributes:
|
||||
estimated_track: ``(lat_deg, lon_deg)`` per emission, in
|
||||
chronological order.
|
||||
truth_track: Same shape, sourced from the tlog.
|
||||
summary_markdown: Optional content of the AZ-699 accuracy
|
||||
report. ``None`` skips the header banner.
|
||||
title: Page title (folium ``<title>``).
|
||||
"""
|
||||
|
||||
estimated_track: list[tuple[float, float]]
|
||||
truth_track: list[tuple[float, float]]
|
||||
summary_markdown: str | None
|
||||
title: str
|
||||
|
||||
|
||||
def load_estimated_track(jsonl_path: Path) -> list[tuple[float, float]]:
|
||||
"""Load a track from a ``gps-denied-replay`` JSONL output."""
|
||||
out: list[tuple[float, float]] = []
|
||||
for line in jsonl_path.read_text().splitlines():
|
||||
if not line.strip():
|
||||
continue
|
||||
try:
|
||||
row = json.loads(line)
|
||||
except json.JSONDecodeError as exc:
|
||||
raise ValueError(
|
||||
f"{jsonl_path}: invalid JSON on a line: {exc!r}"
|
||||
) from exc
|
||||
pos = row.get("position_wgs84")
|
||||
if not isinstance(pos, dict):
|
||||
raise ValueError(
|
||||
f"{jsonl_path}: row missing position_wgs84: {row!r}"
|
||||
)
|
||||
lat = pos.get("lat_deg")
|
||||
lon = pos.get("lon_deg")
|
||||
if not isinstance(lat, (int, float)) or not isinstance(lon, (int, float)):
|
||||
raise ValueError(
|
||||
f"{jsonl_path}: row has non-numeric lat/lon: {pos!r}"
|
||||
)
|
||||
out.append((float(lat), float(lon)))
|
||||
return out
|
||||
|
||||
|
||||
def load_ground_truth_track(tlog_path: Path) -> list[tuple[float, float]]:
|
||||
"""Load a ``(lat, lon)`` track from a binary tlog (AZ-697)."""
|
||||
series = load_tlog_ground_truth(tlog_path)
|
||||
return [(fix.lat_deg, fix.lon_deg) for fix in series.records]
|
||||
|
||||
|
||||
def _bounds(
|
||||
*tracks: Iterable[tuple[float, float]],
|
||||
) -> tuple[tuple[float, float], tuple[float, float]] | None:
|
||||
"""Return the lat/lon bounding box across all non-empty tracks."""
|
||||
lats: list[float] = []
|
||||
lons: list[float] = []
|
||||
for track in tracks:
|
||||
for lat, lon in track:
|
||||
lats.append(lat)
|
||||
lons.append(lon)
|
||||
if not lats:
|
||||
return None
|
||||
return (min(lats), min(lons)), (max(lats), max(lons))
|
||||
|
||||
|
||||
def _import_folium() -> Any:
|
||||
"""Defer folium import so the airborne binary never pays for it."""
|
||||
try:
|
||||
import folium # type: ignore[import-untyped, import-not-found, unused-ignore]
|
||||
except ImportError as exc:
|
||||
raise SystemExit(
|
||||
"folium not installed. Install the operator-side tools "
|
||||
"with `pip install gps-denied-onboard[operator-tools]`."
|
||||
) from exc
|
||||
return folium
|
||||
|
||||
|
||||
def render_map_html(
|
||||
inputs: RenderInputs,
|
||||
*,
|
||||
offline_tiles: bool = False,
|
||||
offline_tiles_template: str | None = None,
|
||||
) -> str:
|
||||
"""Render the map to an HTML string.
|
||||
|
||||
Pure — does no file I/O. Returns the full HTML document that
|
||||
:func:`main` writes to disk.
|
||||
|
||||
Args:
|
||||
inputs: Parsed tracks + optional summary.
|
||||
offline_tiles: When ``True``, folium is initialised with
|
||||
``tiles=None`` (no base layer). The operator is expected
|
||||
to overlay tiles separately, or accept a gray map for
|
||||
geometric review only.
|
||||
offline_tiles_template: When provided, used as a local
|
||||
tile-URL template (e.g. ``"file:///opt/tiles/{z}/{x}/{y}.png"``).
|
||||
Takes precedence over ``offline_tiles``.
|
||||
"""
|
||||
folium = _import_folium()
|
||||
bbox = _bounds(inputs.estimated_track, inputs.truth_track)
|
||||
if bbox is None:
|
||||
raise ValueError(
|
||||
"both estimated and truth tracks are empty; "
|
||||
"nothing to render"
|
||||
)
|
||||
(lat_min, lon_min), (lat_max, lon_max) = bbox
|
||||
centre = ((lat_min + lat_max) / 2.0, (lon_min + lon_max) / 2.0)
|
||||
|
||||
if offline_tiles_template is not None:
|
||||
m = folium.Map(
|
||||
location=centre,
|
||||
zoom_start=15,
|
||||
tiles=offline_tiles_template,
|
||||
attr="local offline tile bundle",
|
||||
)
|
||||
elif offline_tiles:
|
||||
m = folium.Map(location=centre, zoom_start=15, tiles=None)
|
||||
else:
|
||||
m = folium.Map(
|
||||
location=centre, zoom_start=15, tiles=_DEFAULT_TILES_NAME
|
||||
)
|
||||
|
||||
# AZ-700 AC-2: truth polyline (red) + estimated polyline (blue).
|
||||
if inputs.truth_track:
|
||||
folium.PolyLine(
|
||||
inputs.truth_track,
|
||||
color=_TRUTH_LINE_COLOR,
|
||||
weight=3,
|
||||
opacity=0.9,
|
||||
tooltip="Ground truth (tlog)",
|
||||
).add_to(m)
|
||||
if inputs.estimated_track:
|
||||
folium.PolyLine(
|
||||
inputs.estimated_track,
|
||||
color=_ESTIMATED_LINE_COLOR,
|
||||
weight=3,
|
||||
opacity=0.9,
|
||||
dash_array="6,4",
|
||||
tooltip="Estimator output",
|
||||
).add_to(m)
|
||||
|
||||
# AZ-700 AC-3: start/end markers + 100 m + 50 m scale circles.
|
||||
if inputs.truth_track:
|
||||
truth_start = inputs.truth_track[0]
|
||||
truth_end = inputs.truth_track[-1]
|
||||
folium.Marker(
|
||||
truth_start,
|
||||
tooltip="Truth start",
|
||||
icon=folium.Icon(color=_TRUTH_START_COLOR, icon="play"),
|
||||
).add_to(m)
|
||||
folium.Marker(
|
||||
truth_end,
|
||||
tooltip="Truth end",
|
||||
icon=folium.Icon(color=_TRUTH_END_COLOR, icon="stop"),
|
||||
).add_to(m)
|
||||
folium.Circle(
|
||||
truth_start, radius=100.0, color="black", fill=False,
|
||||
tooltip="100 m scale",
|
||||
).add_to(m)
|
||||
folium.Circle(
|
||||
truth_start, radius=50.0, color="black", fill=False,
|
||||
tooltip="50 m scale",
|
||||
).add_to(m)
|
||||
if inputs.estimated_track:
|
||||
est_start = inputs.estimated_track[0]
|
||||
est_end = inputs.estimated_track[-1]
|
||||
folium.Marker(
|
||||
est_start,
|
||||
tooltip="Estimator start",
|
||||
icon=folium.Icon(color=_ESTIMATED_START_COLOR, icon="play"),
|
||||
).add_to(m)
|
||||
folium.Marker(
|
||||
est_end,
|
||||
tooltip="Estimator end",
|
||||
icon=folium.Icon(color=_ESTIMATED_END_COLOR, icon="stop"),
|
||||
).add_to(m)
|
||||
|
||||
m.fit_bounds([(lat_min, lon_min), (lat_max, lon_max)])
|
||||
|
||||
if inputs.summary_markdown is not None:
|
||||
banner_html = (
|
||||
"<div style='background:#fff; padding:8px 12px; "
|
||||
"border-bottom:1px solid #999; font-family:monospace; "
|
||||
"white-space:pre-wrap;'>"
|
||||
+ _escape_html(inputs.summary_markdown)
|
||||
+ "</div>"
|
||||
)
|
||||
m.get_root().html.add_child(folium.Element(banner_html))
|
||||
|
||||
title_html = (
|
||||
f"<title>{_escape_html(inputs.title)}</title>"
|
||||
)
|
||||
m.get_root().header.add_child(folium.Element(title_html))
|
||||
|
||||
return str(m.get_root().render())
|
||||
|
||||
|
||||
def _escape_html(text: str) -> str:
|
||||
return (
|
||||
text.replace("&", "&")
|
||||
.replace("<", "<")
|
||||
.replace(">", ">")
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# CLI surface
|
||||
|
||||
|
||||
def _build_argparser() -> argparse.ArgumentParser:
|
||||
parser = argparse.ArgumentParser(
|
||||
prog="gps-denied-render-map",
|
||||
description=(
|
||||
"Render a self-contained HTML map comparing the "
|
||||
"estimator's GPS track with the tlog ground-truth track."
|
||||
),
|
||||
)
|
||||
parser.add_argument(
|
||||
"--estimated",
|
||||
type=Path,
|
||||
required=True,
|
||||
help="Path to the gps-denied-replay JSONL emissions file.",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--truth",
|
||||
type=Path,
|
||||
required=True,
|
||||
help="Path to the binary tlog the estimator was run against.",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--output",
|
||||
type=Path,
|
||||
required=True,
|
||||
help="Path to write the resulting HTML map.",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--summary",
|
||||
type=Path,
|
||||
default=None,
|
||||
help=(
|
||||
"Optional path to an AZ-699 accuracy-summary Markdown "
|
||||
"file. When supplied, its contents are embedded above "
|
||||
"the map as a fixed banner."
|
||||
),
|
||||
)
|
||||
parser.add_argument(
|
||||
"--offline-tiles",
|
||||
action="store_true",
|
||||
help=(
|
||||
"Initialise the map with no base tile layer (gray "
|
||||
"background). Use when the rendering host has no "
|
||||
"internet access AND no local tile bundle. The map is "
|
||||
"still useful for geometric track review."
|
||||
),
|
||||
)
|
||||
parser.add_argument(
|
||||
"--offline-tiles-template",
|
||||
type=str,
|
||||
default=None,
|
||||
help=(
|
||||
"Local-tile URL template (e.g. "
|
||||
"'file:///opt/tiles/{z}/{x}/{y}.png'). Takes precedence "
|
||||
"over --offline-tiles when both are supplied."
|
||||
),
|
||||
)
|
||||
parser.add_argument(
|
||||
"--title",
|
||||
type=str,
|
||||
default="gps-denied-onboard replay map",
|
||||
help="HTML <title> for the produced page.",
|
||||
)
|
||||
return parser
|
||||
|
||||
|
||||
def main(argv: list[str] | None = None) -> int:
|
||||
args = _build_argparser().parse_args(argv)
|
||||
|
||||
estimated_track = load_estimated_track(args.estimated)
|
||||
truth_track = load_ground_truth_track(args.truth)
|
||||
if not estimated_track and not truth_track:
|
||||
print(
|
||||
"both estimated and truth tracks are empty; nothing to render",
|
||||
file=sys.stderr,
|
||||
)
|
||||
return 2
|
||||
|
||||
summary_markdown: str | None = None
|
||||
if args.summary is not None:
|
||||
if not args.summary.is_file():
|
||||
print(
|
||||
f"--summary file not found: {args.summary}", file=sys.stderr
|
||||
)
|
||||
return 2
|
||||
summary_markdown = args.summary.read_text()
|
||||
|
||||
inputs = RenderInputs(
|
||||
estimated_track=estimated_track,
|
||||
truth_track=truth_track,
|
||||
summary_markdown=summary_markdown,
|
||||
title=args.title,
|
||||
)
|
||||
|
||||
html = render_map_html(
|
||||
inputs,
|
||||
offline_tiles=bool(args.offline_tiles),
|
||||
offline_tiles_template=args.offline_tiles_template,
|
||||
)
|
||||
args.output.parent.mkdir(parents=True, exist_ok=True)
|
||||
args.output.write_text(html)
|
||||
return 0
|
||||
@@ -0,0 +1,373 @@
|
||||
"""AZ-700 — render_map CLI + HTML renderer unit tests.
|
||||
|
||||
Covers AC-1 (CLI smoke + valid HTML), AC-2 (two distinct
|
||||
polylines), AC-3 (4 markers + 100 m + 50 m circles), and AC-4
|
||||
(summary embedding). AC-5 (offline-tiles flag) is exercised via a
|
||||
dedicated test.
|
||||
|
||||
Folium is an optional dependency (``[operator-tools]`` group);
|
||||
these tests skip cleanly when it is not importable so the airborne
|
||||
test suite stays green even when the operator extra is absent.
|
||||
|
||||
Style: every test follows the Arrange / Act / Assert pattern.
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import json
|
||||
import struct
|
||||
from pathlib import Path
|
||||
|
||||
import pytest
|
||||
|
||||
folium = pytest.importorskip(
|
||||
"folium",
|
||||
reason="folium is an operator-only dep; install gps-denied-onboard[operator-tools]",
|
||||
)
|
||||
|
||||
from gps_denied_onboard.cli.render_map import (
|
||||
RenderInputs,
|
||||
_build_argparser,
|
||||
load_estimated_track,
|
||||
load_ground_truth_track,
|
||||
main,
|
||||
render_map_html,
|
||||
)
|
||||
|
||||
|
||||
def _write_minimal_tlog(path: Path, fixes: list[tuple[float, float, float]]) -> None:
|
||||
"""Write a tiny binary tlog with ``GLOBAL_POSITION_INT`` only.
|
||||
|
||||
Format: ``<u64 big-endian timestamp_us><MAVLink2 msg bytes>``,
|
||||
repeated. ``load_tlog_ground_truth`` ignores everything except
|
||||
``GLOBAL_POSITION_INT`` / ``GPS_RAW_INT``, so the minimal schema
|
||||
is just one ``GLOBAL_POSITION_INT`` per fix.
|
||||
"""
|
||||
from pymavlink.dialects.v20 import ardupilotmega as mavlink
|
||||
|
||||
mav = mavlink.MAVLink(file=None, srcSystem=1, srcComponent=1)
|
||||
with path.open("wb") as fp:
|
||||
for i, (lat, lon, alt) in enumerate(fixes):
|
||||
time_boot_ms = i * 500
|
||||
msg = mav.global_position_int_encode(
|
||||
time_boot_ms=time_boot_ms,
|
||||
lat=int(lat * 1e7),
|
||||
lon=int(lon * 1e7),
|
||||
alt=int(alt * 1000),
|
||||
relative_alt=int(alt * 1000),
|
||||
vx=0,
|
||||
vy=0,
|
||||
vz=0,
|
||||
hdg=0,
|
||||
)
|
||||
payload = msg.pack(mav)
|
||||
ts_us = i * 500_000
|
||||
fp.write(struct.pack(">Q", ts_us))
|
||||
fp.write(payload)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# Helpers
|
||||
|
||||
|
||||
def _write_jsonl(path: Path, rows: list[dict[str, object]]) -> None:
|
||||
path.write_text("\n".join(json.dumps(r) for r in rows) + "\n")
|
||||
|
||||
|
||||
def _example_inputs() -> RenderInputs:
|
||||
return RenderInputs(
|
||||
estimated_track=[
|
||||
(50.0, 30.0),
|
||||
(50.001, 30.001),
|
||||
(50.002, 30.002),
|
||||
],
|
||||
truth_track=[
|
||||
(50.0, 30.0),
|
||||
(50.0005, 30.0005),
|
||||
(50.001, 30.001),
|
||||
],
|
||||
summary_markdown=None,
|
||||
title="unit-test",
|
||||
)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# load_estimated_track / load_ground_truth_track
|
||||
|
||||
|
||||
def test_load_estimated_track_skips_blank_lines(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
path = tmp_path / "out.jsonl"
|
||||
path.write_text(
|
||||
'{"position_wgs84":{"lat_deg":50.0,"lon_deg":30.0,"alt_m":100}}\n'
|
||||
"\n"
|
||||
'{"position_wgs84":{"lat_deg":50.1,"lon_deg":30.1,"alt_m":110}}\n'
|
||||
)
|
||||
|
||||
# Act
|
||||
track = load_estimated_track(path)
|
||||
|
||||
# Assert
|
||||
assert track == [(50.0, 30.0), (50.1, 30.1)]
|
||||
|
||||
|
||||
def test_load_estimated_track_raises_on_missing_position(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
path = tmp_path / "out.jsonl"
|
||||
path.write_text('{"frame_id":1}\n')
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(ValueError, match="missing position_wgs84"):
|
||||
load_estimated_track(path)
|
||||
|
||||
|
||||
def test_load_estimated_track_raises_on_non_numeric_lat(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
path = tmp_path / "out.jsonl"
|
||||
path.write_text(
|
||||
'{"position_wgs84":{"lat_deg":"oops","lon_deg":30.0}}\n'
|
||||
)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(ValueError, match="non-numeric lat/lon"):
|
||||
load_estimated_track(path)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# render_map_html
|
||||
|
||||
|
||||
def test_render_map_html_emits_two_polylines() -> None:
|
||||
# Act
|
||||
html = render_map_html(_example_inputs())
|
||||
|
||||
# Assert — AC-2: two distinct polyline layers with our pinned colors.
|
||||
assert html.count("L.polyline") == 2, (
|
||||
"expected exactly 2 polylines (truth + estimated); "
|
||||
f"saw {html.count('L.polyline')}"
|
||||
)
|
||||
assert '"color": "red"' in html, "truth polyline (red) missing"
|
||||
assert '"color": "blue"' in html, "estimated polyline (blue) missing"
|
||||
|
||||
|
||||
def test_render_map_html_emits_four_markers_and_two_circles() -> None:
|
||||
# Act
|
||||
html = render_map_html(_example_inputs())
|
||||
|
||||
# Assert — AC-3: 2 markers per track (start + end) = 4 total.
|
||||
assert html.count("L.marker") == 4, (
|
||||
f"expected 4 markers; saw {html.count('L.marker')}"
|
||||
)
|
||||
# Scale circles at the truth start: radius 100 + 50.
|
||||
assert html.count("L.circle") == 2, (
|
||||
f"expected 2 scale circles (100 m + 50 m); "
|
||||
f"saw {html.count('L.circle')}"
|
||||
)
|
||||
assert '"radius": 100.0' in html
|
||||
assert '"radius": 50.0' in html
|
||||
|
||||
|
||||
def test_render_map_html_embeds_summary_when_provided() -> None:
|
||||
# Arrange
|
||||
inputs = RenderInputs(
|
||||
estimated_track=[(50.0, 30.0), (50.001, 30.001)],
|
||||
truth_track=[(50.0, 30.0), (50.0005, 30.0005)],
|
||||
summary_markdown=(
|
||||
"# Real-flight validation — 2026-05-20\n"
|
||||
"**Verdict**: PASS\n"
|
||||
"| Mean | 12.3 |"
|
||||
),
|
||||
title="t",
|
||||
)
|
||||
|
||||
# Act
|
||||
html = render_map_html(inputs)
|
||||
|
||||
# Assert — AC-4: the markdown body shows up in the HTML.
|
||||
assert "Real-flight validation" in html
|
||||
assert "**Verdict**: PASS" in html # noqa: E501 — escape allowed since `*` is not HTML-special
|
||||
# HTML special chars are escaped — pipe characters stay raw, but
|
||||
# the angle brackets used in markdown's emphasis would. We don't
|
||||
# want script injection, so confirm the wrapper div is present.
|
||||
assert "white-space:pre-wrap" in html
|
||||
|
||||
|
||||
def test_render_map_html_raises_on_both_tracks_empty() -> None:
|
||||
# Arrange
|
||||
inputs = RenderInputs(
|
||||
estimated_track=[],
|
||||
truth_track=[],
|
||||
summary_markdown=None,
|
||||
title="empty",
|
||||
)
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(ValueError, match="empty"):
|
||||
render_map_html(inputs)
|
||||
|
||||
|
||||
def test_render_map_html_offline_tiles_omits_openstreetmap() -> None:
|
||||
# Act
|
||||
html_default = render_map_html(_example_inputs())
|
||||
html_offline = render_map_html(_example_inputs(), offline_tiles=True)
|
||||
|
||||
# Assert — `tiles=None` removes the default OpenStreetMap tile URL.
|
||||
assert "openstreetmap" in html_default.lower()
|
||||
assert "openstreetmap" not in html_offline.lower()
|
||||
|
||||
|
||||
def test_render_map_html_offline_tiles_template_uses_local_url() -> None:
|
||||
# Act
|
||||
html = render_map_html(
|
||||
_example_inputs(),
|
||||
offline_tiles_template="file:///opt/tiles/{z}/{x}/{y}.png",
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert "file:///opt/tiles/{z}/{x}/{y}.png" in html
|
||||
assert "local offline tile bundle" in html
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# CLI smoke (AC-1)
|
||||
|
||||
|
||||
def test_cli_writes_html_with_default_tiles(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
estimated = tmp_path / "estimator.jsonl"
|
||||
_write_jsonl(
|
||||
estimated,
|
||||
[
|
||||
{"position_wgs84": {"lat_deg": 50.0, "lon_deg": 30.0, "alt_m": 100}},
|
||||
{"position_wgs84": {"lat_deg": 50.001, "lon_deg": 30.001, "alt_m": 101}},
|
||||
],
|
||||
)
|
||||
|
||||
truth = tmp_path / "synth.tlog"
|
||||
_write_minimal_tlog(
|
||||
truth,
|
||||
[(50.0, 30.0, 100.0), (50.0005, 30.0005, 100.0), (50.001, 30.001, 100.0)],
|
||||
)
|
||||
|
||||
output = tmp_path / "map.html"
|
||||
|
||||
# Act
|
||||
rc = main(
|
||||
[
|
||||
"--estimated", str(estimated),
|
||||
"--truth", str(truth),
|
||||
"--output", str(output),
|
||||
]
|
||||
)
|
||||
|
||||
# Assert — AC-1: clean exit + non-empty HTML.
|
||||
assert rc == 0
|
||||
assert output.is_file()
|
||||
body = output.read_text()
|
||||
assert body.startswith("<!DOCTYPE html>")
|
||||
assert len(body) > 1000
|
||||
|
||||
|
||||
def test_cli_embeds_summary_when_flag_supplied(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
estimated = tmp_path / "estimator.jsonl"
|
||||
_write_jsonl(
|
||||
estimated,
|
||||
[
|
||||
{"position_wgs84": {"lat_deg": 50.0, "lon_deg": 30.0, "alt_m": 100}},
|
||||
{"position_wgs84": {"lat_deg": 50.001, "lon_deg": 30.001, "alt_m": 101}},
|
||||
],
|
||||
)
|
||||
|
||||
truth = tmp_path / "synth.tlog"
|
||||
_write_minimal_tlog(truth, [(50.0, 30.0, 100.0), (50.001, 30.001, 100.0)])
|
||||
|
||||
summary = tmp_path / "real_flight_validation_2026-05-20.md"
|
||||
summary.write_text(
|
||||
"# Real-flight validation — 2026-05-20\n"
|
||||
"**Verdict**: FAIL\n\n"
|
||||
"## Horizontal error (metres)\n"
|
||||
"| Mean | 142.5 |\n"
|
||||
)
|
||||
|
||||
output = tmp_path / "map.html"
|
||||
|
||||
# Act
|
||||
rc = main(
|
||||
[
|
||||
"--estimated", str(estimated),
|
||||
"--truth", str(truth),
|
||||
"--output", str(output),
|
||||
"--summary", str(summary),
|
||||
]
|
||||
)
|
||||
|
||||
# Assert — AC-4
|
||||
assert rc == 0
|
||||
body = output.read_text()
|
||||
assert "Real-flight validation" in body
|
||||
assert "**Verdict**: FAIL" in body
|
||||
assert "Mean | 142.5" in body
|
||||
|
||||
|
||||
def test_cli_fails_fast_when_summary_path_missing(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
estimated = tmp_path / "estimator.jsonl"
|
||||
_write_jsonl(
|
||||
estimated,
|
||||
[
|
||||
{"position_wgs84": {"lat_deg": 50.0, "lon_deg": 30.0, "alt_m": 100}},
|
||||
],
|
||||
)
|
||||
truth = tmp_path / "synth.tlog"
|
||||
_write_minimal_tlog(truth, [(50.0, 30.0, 100.0), (50.001, 30.001, 100.0)])
|
||||
|
||||
output = tmp_path / "map.html"
|
||||
missing_summary = tmp_path / "does_not_exist.md"
|
||||
|
||||
# Act
|
||||
rc = main(
|
||||
[
|
||||
"--estimated", str(estimated),
|
||||
"--truth", str(truth),
|
||||
"--output", str(output),
|
||||
"--summary", str(missing_summary),
|
||||
]
|
||||
)
|
||||
|
||||
# Assert
|
||||
assert rc == 2
|
||||
assert not output.exists(), "must not write the map when summary path is invalid"
|
||||
|
||||
|
||||
def test_argparser_requires_three_paths() -> None:
|
||||
# Arrange
|
||||
parser = _build_argparser()
|
||||
|
||||
# Act / Assert
|
||||
with pytest.raises(SystemExit):
|
||||
parser.parse_args([])
|
||||
with pytest.raises(SystemExit):
|
||||
parser.parse_args(["--estimated", "/tmp/a.jsonl"])
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------
|
||||
# load_ground_truth_track integration with AZ-697
|
||||
|
||||
|
||||
def test_load_ground_truth_track_returns_lat_lon_pairs(tmp_path: Path) -> None:
|
||||
# Arrange — synthesize a minimal tlog and round-trip through AZ-697.
|
||||
tlog_path = tmp_path / "synth.tlog"
|
||||
_write_minimal_tlog(
|
||||
tlog_path,
|
||||
[(50.000, 30.000, 100.0), (50.001, 30.001, 101.0), (50.002, 30.002, 102.0)],
|
||||
)
|
||||
|
||||
# Act
|
||||
track = load_ground_truth_track(tlog_path)
|
||||
|
||||
# Assert
|
||||
assert len(track) == 3
|
||||
for lat, lon in track:
|
||||
assert 49.99 < lat < 50.01
|
||||
assert 29.99 < lon < 30.01
|
||||
Reference in New Issue
Block a user