mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
105 lines
2.9 KiB
Python
105 lines
2.9 KiB
Python
from satellite_service import (
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LocalVprIndexPackage,
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LocalVprRetriever,
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RelocalizationRequest,
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VprDescriptorRecord,
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)
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def _record(
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chunk_id: str = "chunk-1",
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tile_id: str = "tile-1",
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descriptor: tuple[float, ...] = (1.0, 0.0, 0.0),
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freshness_status: str = "fresh",
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) -> VprDescriptorRecord:
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return VprDescriptorRecord(
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chunk_id=chunk_id,
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tile_id=tile_id,
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descriptor=descriptor,
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footprint={"min_lat": 49.0, "max_lat": 49.1, "min_lon": 36.0, "max_lon": 36.1},
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freshness_status=freshness_status,
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)
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def test_valid_local_index_load_reports_ready_status() -> None:
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# Arrange
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retriever = LocalVprRetriever()
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package = LocalVprIndexPackage(package_id="index-1", records=(_record(),))
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# Act
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readiness = retriever.load_index(package)
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# Assert
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assert readiness.ready is True
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assert readiness.engine == "cpu_faiss"
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assert readiness.loaded_records == 1
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def test_loaded_index_returns_bounded_candidates_with_freshness() -> None:
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# Arrange
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retriever = LocalVprRetriever()
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retriever.load_index(
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LocalVprIndexPackage(
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package_id="index-1",
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records=(
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_record(chunk_id="chunk-best", tile_id="tile-best", descriptor=(1.0, 0.0)),
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_record(
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chunk_id="chunk-stale",
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tile_id="tile-stale",
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descriptor=(0.8, 0.2),
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freshness_status="stale",
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),
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),
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)
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)
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request = RelocalizationRequest(
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frame_id="frame-1",
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image_ref="replay/frame-1.jpg",
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trigger_reason="covariance_growth",
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top_k=1,
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query_descriptor=(1.0, 0.0),
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)
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# Act
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result = retriever.retrieve(request)
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# Assert
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assert result.degraded is False
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assert len(result.candidates) == 1
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assert result.candidates[0].chunk_id == "chunk-best"
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assert result.candidates[0].tile_id == "tile-best"
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assert result.candidates[0].freshness_status == "fresh"
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def test_missing_index_degrades_with_explicit_no_candidate_result() -> None:
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# Arrange
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retriever = LocalVprRetriever()
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request = RelocalizationRequest(
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frame_id="frame-1",
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image_ref="replay/frame-1.jpg",
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trigger_reason="cold_start",
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top_k=3,
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)
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# Act
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result = retriever.retrieve(request)
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# Assert
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assert result.ready is False
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assert result.degraded is True
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assert result.candidates == ()
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assert result.error is not None
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assert result.error.cause == "index_not_loaded"
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def test_descriptor_fidelity_gate_rejects_large_optimized_delta() -> None:
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# Arrange
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retriever = LocalVprRetriever()
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# Act
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report = retriever.verify_descriptor_fidelity((1.0, 0.0), (0.0, 1.0), max_l2_delta=0.1)
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# Assert
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assert report.accepted is False
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assert report.observed_l2_delta > report.max_l2_delta
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