gps-denied-onboard/tests/unit/shared/test_runtime_contracts.py

import pytest
from pydantic import ValidationError

from shared.contracts import (
    AnchorDecision,
    CacheTileRecord,
    FdrEvent,
    FramePacket,
    PositionEstimate,
    TelemetrySample,
    VioStatePacket,
    VprCandidate,
)


def test_runtime_dtos_accept_valid_minimal_values() -> None:
    # Arrange
    timestamp_ns = 1_000_000

    # Act
    contracts = [
        FramePacket(
            frame_id="frame-1",
            timestamp_ns=timestamp_ns,
            image_ref="frames/frame-1",
            calibration_id="calib-1",
            occlusion="clear",
            quality=0.95,
        ),
        TelemetrySample(
            timestamp_ns=timestamp_ns,
            imu={"accel_x": 0.1},
            attitude={"roll": 0.0},
            altitude_m=950.0,
            airspeed_mps=16.0,
            gps_health="lost",
        ),
        VioStatePacket(
            timestamp_ns=timestamp_ns,
            relative_pose={"x": 1.0},
            velocity_mps=(1.0, 0.0, 0.0),
            tracking_quality=0.8,
        ),
        PositionEstimate(
            timestamp_ns=timestamp_ns,
            latitude_deg=49.9,
            longitude_deg=36.2,
            altitude_m=950.0,
            covariance_semimajor_m=12.0,
            source_label="satellite_anchored",
            fix_type=3,
            horizontal_accuracy_m=12.0,
            anchor_age_ms=200,
        ),
        VprCandidate(
            chunk_id="chunk-1",
            tile_id="tile-1",
            score=0.87,
            footprint={"min_lat": 49.0},
            freshness_status="fresh",
        ),
        AnchorDecision(
            candidate_id="candidate-1",
            accepted=True,
            estimated_pose={"x": 1.0},
            inliers=42,
            mean_reprojection_error_px=0.8,
        ),
        CacheTileRecord(
            tile_id="tile-1",
            crs="EPSG:3857",
            meters_per_pixel=0.3,
            capture_date="2026-05-03",
            signature_hash="sha256:abc",
            trust_level="trusted",
            freshness_status="fresh",
            provenance="suite-satellite-service",
        ),
        FdrEvent(
            event_type="health",
            timestamp_ns=timestamp_ns,
            component="shared.contracts",
            severity="info",
            payload_ref="fdr://segment/1",
            mission_id="mission-1",
            run_id="run-1",
        ),
    ]

    # Assert
    assert len(contracts) == 8


def test_missing_required_timestamp_is_rejected_with_structured_error() -> None:
    # Act
    with pytest.raises(ValidationError) as error:
        FramePacket(
            frame_id="frame-1",
            image_ref="frames/frame-1",
            calibration_id="calib-1",
            occlusion="clear",
            quality=0.95,
        )

    # Assert
    assert error.value.errors()[0]["loc"] == ("timestamp_ns",)
    assert error.value.errors()[0]["type"] == "missing"


def test_raw_frame_retention_is_rejected() -> None:
    # Act
    with pytest.raises(ValidationError) as error:
        FramePacket(
            frame_id="frame-1",
            timestamp_ns=1,
            image_ref="frames/frame-1",
            calibration_id="calib-1",
            occlusion="clear",
            quality=0.95,
            raw_frame_retained=True,
        )

    # Assert
    assert "raw frame payloads must be referenced" in str(error.value)


def test_position_accuracy_cannot_under_report_covariance() -> None:
    # Act
    with pytest.raises(ValidationError) as error:
        PositionEstimate(
            timestamp_ns=1,
            latitude_deg=49.9,
            longitude_deg=36.2,
            altitude_m=950.0,
            covariance_semimajor_m=50.0,
            source_label="satellite_anchored",
            fix_type=3,
            horizontal_accuracy_m=10.0,
            anchor_age_ms=200,
        )

    # Assert
    assert "must not under-report" in str(error.value)


def test_accepted_anchor_requires_estimated_pose() -> None:
    # Act
    with pytest.raises(ValidationError) as error:
        AnchorDecision(
            candidate_id="candidate-1",
            accepted=True,
            inliers=42,
            mean_reprojection_error_px=0.8,
        )

    # Assert
    assert "accepted anchor decisions require estimated_pose" in str(error.value)