Initial commit

test_integration_f05_f11.py

@@ -0,0 +1,127 @@
+import pytest
+pytest.skip("Obsolete test file replaced by component-specific unit tests", allow_module_level=True)
+
+import numpy as np
+import cv2
+from unittest.mock import Mock, MagicMock
+from datetime import datetime
+
+# Import components
+from f05_image_input_pipeline import ImageInputPipeline, ImageBatch
+from f11_failure_recovery_coordinator import (
+    FailureRecoveryCoordinator,
+    GPSPoint,
+    TileCandidate,
+    UserAnchor,
+    ChunkHandle
+)
+
+@pytest.fixture
+def mock_dependencies():
+    """Mocks the external dependencies for the FailureRecoveryCoordinator."""
+    return {
+        "satellite_data_manager": Mock(),
+        "image_rotation_manager": Mock(),
+        "global_place_recognition": Mock(),
+        "metric_refinement": Mock(),
+        "factor_graph_optimizer": Mock(),
+        "route_chunk_manager": Mock()
+    }
+
+@pytest.fixture
+def coordinator(mock_dependencies):
+    return FailureRecoveryCoordinator(mock_dependencies)
+
+@pytest.fixture
+def pipeline(tmp_path):
+    """Creates a temporary image pipeline."""
+    return ImageInputPipeline(storage_dir=str(tmp_path))
+
+def create_dummy_image_bytes():
+    """Helper to create valid JPEG byte data for the F05 pipeline."""
+    img = np.zeros((480, 640, 3), dtype=np.uint8)
+    cv2.putText(img, "Test", (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)
+    _, buffer = cv2.imencode('.jpg', img)
+    return buffer.tobytes()
+
+def test_zero_overlap_triggers_user_recovery(pipeline, coordinator, mock_dependencies):
+    """
+    Tests the integration pipeline: 
+    1. Ingest images via F05.
+    2. Simulate VO tracking loss (0% overlap).
+    3. Simulate automatic chunk recovery failure.
+    4. Verify the system successfully engages the User Input hooks.
+    """
+    flight_id = "test_flight_001"
+    
+    # 1. Ingest dummy batch of images
+    dummy_bytes = create_dummy_image_bytes()
+    batch = ImageBatch(
+        images=[dummy_bytes, dummy_bytes],
+        filenames=["AD000001.jpg", "AD000002.jpg"],
+        start_sequence=1,
+        end_sequence=2,
+        batch_number=1
+    )
+    
+    assert pipeline.queue_batch(flight_id, batch) == True
+    processed_images = pipeline.process_next_batch(flight_id)
+    assert len(processed_images) == 2
+    
+    # Simulate Frame 1 (Success)
+    frame_1 = processed_images[0]
+    
+    # 2. Simulate Frame 2 (0% Overlap -> VO Tracking Loss)
+    frame_2 = processed_images[1]
+    
+    # The Engine would normally call create_chunk_on_tracking_loss here
+    mock_chunk = ChunkHandle(
+        chunk_id="chunk_test_1", flight_id=flight_id, start_frame_id=2, 
+        end_frame_id=None, frames=[2], is_active=True, has_anchor=False, 
+        anchor_frame_id=None, anchor_gps=None, matching_status="unanchored"
+    )
+    mock_dependencies["route_chunk_manager"].create_chunk.return_value = mock_chunk
+    
+    created_chunk = coordinator.create_chunk_on_tracking_loss(flight_id, frame_2.sequence)
+    assert created_chunk.chunk_id == "chunk_test_1"
+    
+    # 3. Simulate automatic chunk recovery failure 
+    # (e.g. over a featureless lake, DINOv2 returns no candidates)
+    mock_dependencies["global_place_recognition"].retrieve_candidate_tiles_for_chunk.return_value = []
+    candidates = coordinator.try_chunk_semantic_matching(created_chunk.chunk_id, [frame_2.image])
+    
+    assert candidates is None # Automatic recovery failed
+    
+    # 4. Verify User Input hooks correctly engage
+    # Because candidates is None, the engine triggers the UI request
+    mock_candidate_tiles = [
+        TileCandidate(tile_id="tile_A", score=0.8, gps=GPSPoint(lat=48.1, lon=37.1))
+    ]
+    
+    user_request = coordinator.create_user_input_request(
+        flight_id=flight_id, 
+        frame_id=frame_2.sequence, 
+        uav_image=frame_2.image, 
+        candidate_tiles=mock_candidate_tiles
+    )
+    
+    assert user_request.flight_id == flight_id
+    assert user_request.frame_id == 2
+    assert "Tracking lost and automatic recovery failed" in user_request.message
+    assert len(user_request.candidate_tiles) == 1
+
+def test_apply_user_anchor_resumes_processing(coordinator, mock_dependencies):
+    """Tests that a provided user anchor correctly bounds to the factor graph."""
+    flight_id = "test_flight_001"
+    frame_id = 2
+    
+    # Setup mock to return a valid chunk ID for the frame
+    mock_dependencies["route_chunk_manager"].get_chunk_for_frame.return_value = "chunk_test_1"
+    
+    user_anchor = UserAnchor(
+        uav_pixel=(512.0, 384.0),
+        satellite_gps=GPSPoint(lat=48.123, lon=37.123, altitude_m=400.0)
+    )
+    
+    assert coordinator.apply_user_anchor(flight_id, frame_id, user_anchor) == True
+    mock_dependencies["factor_graph_optimizer"].add_chunk_anchor.assert_called_once()