mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 16:01:14 +00:00
Oleksandr Bezdieniezhnykh
7fb3cb3f34
Replace per-scenario fixture builders with a parameterized strategy framework so future Derkachi-based scenarios compose existing pieces instead of duplicating ~200 lines of orchestration per scenario. New e2e/fixtures/sitl_replay_builder/builder.py: - VideoSource ABC + StillImagesSource, Mp4PassthroughSource - TlogSource ABC + SyntheticStationaryTlog, ImuCsvTlog - FdrProjection ABC + RawFdrPassthrough, OutboundMessagesProjection - FixtureBuilderConfig + build_fixtures(cfg) orchestrator - Consolidated MAVLink pack_raw_imu / pack_attitude helpers - Consolidated run_gps_denied_replay + write_observer_fixture build_p01_fixtures.py: 423 -> 107 lines (75% reduction). build_p02_fixtures.py: 292 -> 98 lines (66% reduction). _common.py: deleted (folded into builder.py). Tests reorganized: - test_sitl_replay_builder_builder.py (new, 33 strategy-level tests) - test_sitl_replay_builder.py (slimmed, 6 FT-P-01 integration) - test_sitl_replay_builder_p02.py (slimmed, 7 FT-P-02 integration) README documents the strategy framework + a worked example for adding FT-P-04 in ~30 lines (no new strategy code required). Regression gate: 700 passing (was 686; +14 from finer-grained coverage of new strategy classes and the build_fixtures orchestrator). Co-authored-by: Cursor <cursoragent@cursor.com>
107 lines
3.8 KiB
Python
107 lines
3.8 KiB
Python
"""FT-P-02 Derkachi fixture builder (AZ-599; refactored to strategy pattern in AZ-600).
|
|
|
|
Composes the parameterized fixture-builder framework
|
|
(``e2e.fixtures.sitl_replay_builder.builder``) into the FT-P-02 scenario:
|
|
|
|
* Video source: pass-through of the recorded ``flight_derkachi.mp4``.
|
|
* Tlog source: real-motion tlog converted from ``data_imu.csv`` rows
|
|
(10 Hz ``SCALED_IMU2`` accel/gyro + ``GLOBAL_POSITION_INT.hdg`` yaw;
|
|
roll/pitch=0 fixed-wing-cruise approximation).
|
|
* FDR projection: raw passthrough + assert ≥1 ``record_type=="estimate"``
|
|
record (the FT-P-02 scenario walks the FDR via ``fdr_reader.iter_records``).
|
|
|
|
This module is intentionally thin — strategy implementations + the
|
|
orchestrator live in ``builder.py``.
|
|
"""
|
|
|
|
from __future__ import annotations
|
|
|
|
import argparse
|
|
import logging
|
|
import subprocess
|
|
import sys
|
|
from dataclasses import dataclass
|
|
from pathlib import Path
|
|
from typing import Callable, Sequence
|
|
|
|
from e2e.fixtures.sitl_replay_builder.builder import (
|
|
DEFAULT_CLI_BIN,
|
|
FixtureBuilderConfig,
|
|
ImuCsvTlog,
|
|
Mp4PassthroughSource,
|
|
RawFdrPassthrough,
|
|
build_fixtures,
|
|
)
|
|
|
|
|
|
@dataclass(frozen=True)
|
|
class P02BuilderConfig:
|
|
"""Per-invocation Derkachi builder configuration."""
|
|
|
|
derkachi_dir: Path
|
|
output_dir: Path
|
|
fc_kind: str = "ardupilot"
|
|
host: str = "sitl-host"
|
|
cli_bin: str = DEFAULT_CLI_BIN
|
|
|
|
|
|
def resolve_derkachi_inputs(derkachi_dir: Path) -> tuple[Path, Path]:
|
|
"""Return ``(mp4_path, imu_csv_path)`` under ``derkachi_dir`` or raise."""
|
|
mp4 = derkachi_dir / "flight_derkachi.mp4"
|
|
csv_path = derkachi_dir / "data_imu.csv"
|
|
if not mp4.is_file():
|
|
raise FileNotFoundError(f"Derkachi MP4 not found: {mp4}")
|
|
if not csv_path.is_file():
|
|
raise FileNotFoundError(f"Derkachi IMU CSV not found: {csv_path}")
|
|
return mp4, csv_path
|
|
|
|
|
|
def build_p02_fixtures(
|
|
cfg: P02BuilderConfig,
|
|
*,
|
|
_runner: Callable[[Sequence[str]], subprocess.CompletedProcess] | None = None,
|
|
_mavlink_writer_factory: Callable | None = None,
|
|
) -> Path:
|
|
"""End-to-end FT-P-02 fixture build. Returns the output directory."""
|
|
mp4, csv_path = resolve_derkachi_inputs(cfg.derkachi_dir)
|
|
builder_cfg = FixtureBuilderConfig(
|
|
video_source=Mp4PassthroughSource(mp4_path=mp4),
|
|
tlog_source=ImuCsvTlog(csv_path=csv_path),
|
|
fdr_projection=RawFdrPassthrough(verify_estimates=True),
|
|
output_dir=cfg.output_dir,
|
|
fc_kind=cfg.fc_kind, host=cfg.host, cli_bin=cfg.cli_bin,
|
|
video_filename="video_unused.mp4", # Mp4PassthroughSource returns mp4 directly
|
|
tlog_filename="derkachi.tlog",
|
|
fdr_subdir="fdr", fdr_filename="fdr.jsonl",
|
|
)
|
|
return build_fixtures(
|
|
builder_cfg, _runner=_runner, _mavlink_writer_factory=_mavlink_writer_factory,
|
|
)
|
|
|
|
|
|
def _main(argv: Sequence[str] | None = None) -> int:
|
|
parser = argparse.ArgumentParser(
|
|
prog="build_p02_fixtures",
|
|
description="Build FT-P-02 Derkachi replay fixtures via gps-denied-replay.",
|
|
)
|
|
parser.add_argument("--derkachi-dir", type=Path, required=True,
|
|
help="Directory containing flight_derkachi.mp4 + data_imu.csv")
|
|
parser.add_argument("--output-dir", type=Path, required=True,
|
|
help="Output dir for derkachi.tlog + fdr/ archive + observer fixture")
|
|
parser.add_argument("--fc-kind", choices=("ardupilot", "inav"), default="ardupilot")
|
|
parser.add_argument("--host", default="sitl-host")
|
|
parser.add_argument("--cli-bin", default=DEFAULT_CLI_BIN)
|
|
args = parser.parse_args(argv)
|
|
|
|
logging.basicConfig(level=logging.INFO)
|
|
cfg = P02BuilderConfig(
|
|
derkachi_dir=args.derkachi_dir, output_dir=args.output_dir,
|
|
fc_kind=args.fc_kind, host=args.host, cli_bin=args.cli_bin,
|
|
)
|
|
build_p02_fixtures(cfg)
|
|
return 0
|
|
|
|
|
|
if __name__ == "__main__": # pragma: no cover
|
|
sys.exit(_main())
|