Initial commit

test_02_2_01_feature_frame_processing_loop.py

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+import pytest
+pytest.skip("Obsolete test file replaced by component-specific unit tests", allow_module_level=True)
+
+import numpy as np
+import threading
+import time
+from unittest.mock import Mock, patch
+
+from f02_flight_processing_engine import FlightProcessingEngine
+
+@pytest.fixture
+def mock_deps():
+    return {
+        "vo": Mock(),
+        "graph": Mock(),
+        "cvgl": Mock(),
+        "publisher": Mock(),
+        "failure_coord": Mock(),
+        "result_mgr": Mock(),
+        "camera_params": Mock(),
+        "image_pipeline": Mock(),
+        "chunk_manager": Mock()
+    }
+
+@pytest.fixture
+def engine(mock_deps):
+    eng = FlightProcessingEngine(
+        vo_frontend=mock_deps["vo"],
+        factor_graph=mock_deps["graph"],
+        cvgl_backend=mock_deps["cvgl"],
+        async_pose_publisher=mock_deps["publisher"],
+        failure_coordinator=mock_deps["failure_coord"],
+        result_manager=mock_deps["result_mgr"],
+        camera_params=mock_deps["camera_params"],
+        image_input_pipeline=mock_deps["image_pipeline"],
+        route_chunk_manager=mock_deps["chunk_manager"]
+    )
+    return eng
+
+class TestFrameProcessingLoop:
+    """Tests defined in 02.2.01_feature_frame_processing_loop.md"""
+
+    def test_start_processing_initiates_background_loop(self, engine):
+        engine.start_processing("flight_123")
+        
+        assert engine.is_running is True
+        assert engine.flight_status == "PROCESSING"
+        assert isinstance(engine.processing_thread, threading.Thread)
+        assert engine.processing_thread.is_alive()
+        
+        engine.stop_processing()
+
+    def test_stop_processing_gracefully_terminates_active_processing(self, engine):
+        engine.start_processing("flight_123")
+        engine.stop_processing()
+        
+        assert engine.is_running is False
+        engine.processing_thread.join(timeout=1.0)
+        assert not engine.processing_thread.is_alive()
+
+    def test_process_frame_returns_valid_FrameResult_with_pose(self, engine, mock_deps):
+        # Setup active chunk
+        mock_chunk = Mock(chunk_id="chunk_0")
+        engine.get_active_chunk = Mock(return_value=mock_chunk)
+        
+        # Setup successful VO tracking
+        mock_rel_pose = Mock(tracking_good=True, rotation=np.eye(3), translation=np.array([1, 0, 0]))
+        mock_deps["vo"].compute_relative_pose.return_value = mock_rel_pose
+        
+        # Setup optimizer optimization success
+        mock_deps["graph"].optimize_chunk.return_value = (True, {10: np.eye(4)})
+        
+        dummy_img = np.zeros((100, 100, 3), dtype=np.uint8)
+        engine.last_image = np.zeros((100, 100, 3), dtype=np.uint8)
+        engine.last_frame_id = 9
+        
+        result = engine.process_frame("flight_123", 10, dummy_img)
+        
+        assert result["status"] == "PROCESSED"
+        assert result["frame"] == 10
+        mock_deps["graph"].add_relative_factor_to_chunk.assert_called_once()
+        mock_deps["graph"].optimize_chunk.assert_called_once_with("chunk_0")
+
+    def test_flight_status_transitions_to_blocked_on_tracking_loss(self, engine, mock_deps):
+        engine.get_active_chunk = Mock(return_value=Mock(chunk_id="chunk_0"))
+        
+        mock_deps["vo"].compute_relative_pose.return_value = Mock(tracking_good=False)
+        engine.handle_tracking_loss = Mock(return_value="BLOCKED")
+        
+        dummy_img = np.zeros((100, 100, 3), dtype=np.uint8)
+        engine.last_image = np.zeros((100, 100, 3), dtype=np.uint8)
+        
+        result = engine.process_frame("flight_123", 10, dummy_img)
+        engine.handle_tracking_loss.assert_called_once_with("flight_123", 10)