Initial commit

test_f12_route_chunk_manager.py

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+import pytest
+import numpy as np
+from unittest.mock import Mock, patch
+
+from f12_route_chunk_manager import RouteChunkManager, ChunkHandle, ChunkConfig
+from f02_1_flight_lifecycle_manager import GPSPoint
+from f07_sequential_visual_odometry import RelativePose
+from f09_local_geospatial_anchoring import Sim3Transform
+
+@pytest.fixture
+def mocks():
+    return {
+        "f03": Mock(),
+        "f05": Mock(),
+        "f08": Mock(),
+        "f10": Mock()
+    }
+
+@pytest.fixture
+def rcm(mocks):
+    return RouteChunkManager(
+        f03=mocks["f03"],
+        f05=mocks["f05"],
+        f08=mocks["f08"],
+        f10=mocks["f10"],
+        config=ChunkConfig(min_frames_for_matching=5, max_frames_per_chunk=20)
+    )
+
+@pytest.fixture
+def dummy_relative_pose():
+    return RelativePose(translation=np.array([1, 0, 0]), rotation=np.eye(3), confidence=0.9, inlier_count=50, total_matches=100, tracking_good=True)
+
+class TestRouteChunkManager:
+
+    # --- 12.01 Chunk Lifecycle Management ---
+
+    def test_create_chunk(self, rcm, mocks):
+        chunk = rcm.create_chunk("flight_1", 100)
+        assert chunk.flight_id == "flight_1"
+        assert chunk.start_frame_id == 100
+        assert chunk.is_active is True
+        assert chunk.chunk_id in rcm._chunks
+        
+        mocks["f10"].create_chunk_subgraph.assert_called_once_with("flight_1", chunk.chunk_id, 100)
+
+    def test_add_frame_to_active_chunk(self, rcm, dummy_relative_pose, mocks):
+        mocks["f10"].add_relative_factor_to_chunk.return_value = True
+        chunk = rcm.create_chunk("flight_1", 100)
+        
+        success = rcm.add_frame_to_chunk(chunk.chunk_id, 101, dummy_relative_pose)
+        assert success is True
+        assert 101 in chunk.frames
+        assert chunk.end_frame_id == 101
+        mocks["f10"].add_relative_factor_to_chunk.assert_called_once()
+
+    def test_add_frame_to_inactive_chunk_fails(self, rcm, dummy_relative_pose):
+        chunk = rcm.create_chunk("flight_1", 100)
+        rcm.deactivate_chunk(chunk.chunk_id)
+        
+        success = rcm.add_frame_to_chunk(chunk.chunk_id, 101, dummy_relative_pose)
+        assert success is False
+
+    def test_get_active_chunk(self, rcm):
+        chunk1 = rcm.create_chunk("flight_1", 100)
+        rcm.create_chunk("flight_2", 200) # Different flight
+        
+        active = rcm.get_active_chunk("flight_1")
+        assert active.chunk_id == chunk1.chunk_id
+        
+        rcm.deactivate_chunk(chunk1.chunk_id)
+        assert rcm.get_active_chunk("flight_1") is None
+
+    # --- 12.02 Chunk Data Retrieval ---
+
+    def test_get_chunk_frames_and_images(self, rcm, mocks):
+        chunk = rcm.create_chunk("flight_1", 1)
+        chunk.frames = [1, 2, 3]
+        
+        assert rcm.get_chunk_frames(chunk.chunk_id) == [1, 2, 3]
+        
+        mock_img = Mock(image=np.zeros((10, 10)))
+        mocks["f05"].get_image_by_sequence.return_value = mock_img
+        
+        images = rcm.get_chunk_images(chunk.chunk_id)
+        assert len(images) == 3
+        assert mocks["f05"].get_image_by_sequence.call_count == 3
+
+    def test_get_chunk_composite_descriptor(self, rcm, mocks):
+        chunk = rcm.create_chunk("flight_1", 1)
+        chunk.frames = [1, 2]
+        mocks["f05"].get_image_by_sequence.return_value = Mock(image=np.zeros((10, 10)))
+        mocks["f08"].compute_chunk_descriptor.return_value = np.ones(4096)
+        
+        desc = rcm.get_chunk_composite_descriptor(chunk.chunk_id)
+        assert desc is not None
+        assert desc.shape == (4096,)
+        mocks["f08"].compute_chunk_descriptor.assert_called_once()
+
+    def test_get_chunk_bounds(self, rcm, mocks):
+        chunk = rcm.create_chunk("flight_1", 1)
+        mocks["f10"].get_chunk_trajectory.return_value = {}  # Returns dict, not mock object
+        # Unanchored bounds
+        bounds = rcm.get_chunk_bounds(chunk.chunk_id)
+        assert bounds.confidence < 0.5
+        
+        # Anchored bounds
+        chunk.has_anchor = True
+        chunk.anchor_gps = GPSPoint(lat=48.0, lon=37.0)
+        bounds_anchored = rcm.get_chunk_bounds(chunk.chunk_id)
+        assert bounds_anchored.confidence > 0.5
+        assert bounds_anchored.estimated_center.lat == 48.0
+
+    # --- 12.03 Chunk Matching Coordination ---
+
+    def test_is_chunk_ready_for_matching(self, rcm):
+        chunk = rcm.create_chunk("flight_1", 1)
+        
+        # Too few frames (<5)
+        chunk.frames = [1, 2, 3]
+        assert rcm.is_chunk_ready_for_matching(chunk.chunk_id) is False
+        
+        # Just right (5)
+        chunk.frames = [1, 2, 3, 4, 5]
+        assert rcm.is_chunk_ready_for_matching(chunk.chunk_id) is True
+        
+        # Already matched
+        chunk.matching_status = "anchored"
+        assert rcm.is_chunk_ready_for_matching(chunk.chunk_id) is False
+
+    def test_mark_chunk_anchored_transactional(self, rcm, mocks):
+        chunk = rcm.create_chunk("flight_1", 1)
+        
+        # F10 fails
+        mocks["f10"].add_chunk_anchor.return_value = False
+        assert rcm.mark_chunk_anchored(chunk.chunk_id, 1, GPSPoint(lat=0, lon=0)) is False
+        assert chunk.has_anchor is False
+        
+        # F10 succeeds
+        mocks["f10"].add_chunk_anchor.return_value = True
+        assert rcm.mark_chunk_anchored(chunk.chunk_id, 1, GPSPoint(lat=0, lon=0)) is True
+        assert chunk.has_anchor is True
+        assert chunk.matching_status == "anchored"
+
+    def test_merge_chunks_transactional(self, rcm, mocks):
+        main_chunk = rcm.create_chunk("flight_1", 1)
+        new_chunk = rcm.create_chunk("flight_1", 10)
+        new_chunk.frames = [10, 11]
+        
+        transform = Sim3Transform(translation=np.zeros(3), rotation=np.eye(3), scale=1.0)
+        
+        mocks["f10"].merge_chunk_subgraphs.return_value = True
+        assert rcm.merge_chunks(main_chunk.chunk_id, new_chunk.chunk_id, transform) is True
+        
+        assert new_chunk.is_active is False
+        assert new_chunk.matching_status == "merged"
+        assert 10 in main_chunk.frames
+        assert 11 in main_chunk.frames
+        
+        assert mocks["f03"].save_chunk_state.call_count == 2