test(e2e): add MARSLVIGAdapter (rotary, RTK, raw IMU)

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

tests/e2e/test_mars_lvig_adapter.py

@@ -0,0 +1,64 @@
+"""MARSLVIGAdapter — reads pre-extracted per-topic files from a sequence dir."""
+
+from pathlib import Path
+
+import pytest
+
+from gps_denied.testing.datasets.base import (
+    DatasetNotAvailableError,
+    PlatformClass,
+)
+from gps_denied.testing.datasets.mars_lvig import MARSLVIGAdapter
+
+
+@pytest.fixture
+def fake_mars_seq(tmp_path: Path) -> Path:
+    seq = tmp_path / "HKairport_01"
+    (seq / "images").mkdir(parents=True)
+    for ts in (100_000_000, 200_000_000):
+        (seq / "images" / f"{ts}.jpg").write_bytes(b"\xff\xd8\xff\xd9")
+    (seq / "imu.csv").write_text(
+        "timestamp_ns,ax,ay,az,gx,gy,gz\n"
+        "100000000,0.0,0.0,-9.81,0.0,0.0,0.0\n"
+        "200000000,0.0,0.0,-9.81,0.0,0.0,0.0\n"
+    )
+    (seq / "gnss.csv").write_text(
+        "timestamp_ns,lat,lon,alt\n"
+        "100000000,22.32,114.17,100.0\n"
+        "200000000,22.3201,114.1702,100.0\n"
+    )
+    return seq
+
+
+def test_raises_when_missing(tmp_path: Path):
+    with pytest.raises(DatasetNotAvailableError):
+        MARSLVIGAdapter(tmp_path / "nope")
+
+
+def test_capabilities(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    cap = adapter.capabilities
+    assert cap.has_raw_imu is True
+    assert cap.has_rtk_gt is True
+    assert cap.platform_class == PlatformClass.ROTARY
+
+
+def test_iter_frames(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    frames = list(adapter.iter_frames())
+    assert len(frames) == 2
+    assert frames[0].timestamp_ns == 100_000_000
+
+
+def test_iter_imu(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    imu = list(adapter.iter_imu())
+    assert len(imu) == 2
+    assert imu[0].accel == (0.0, 0.0, -9.81)
+
+
+def test_iter_ground_truth(fake_mars_seq: Path):
+    adapter = MARSLVIGAdapter(fake_mars_seq)
+    gt = list(adapter.iter_ground_truth())
+    assert len(gt) == 2
+    assert gt[0].lat == pytest.approx(22.32)