gps-denied-onboard/e2e/_unit_tests/fixtures/test_cold_boot_fixture.py

"""Tests for the AZ-407 cold-boot fixture.

AC-4 (SITL loads pose within ±1 m) requires SITL which the unit-test
layer cannot run; that path is covered by AZ-419's FT-P-11 inside the
Docker-bound runner. AZ-407's unit-test obligation is to verify the
JSON shape and bounds.
"""

from __future__ import annotations

import json
from pathlib import Path

import pytest

REPO_ROOT = Path(__file__).resolve().parents[3]
FIXTURE_PATH = REPO_ROOT / "e2e" / "fixtures" / "cold-boot" / "cold_boot_fixture.json"


@pytest.fixture(scope="module")
def cold_boot() -> dict:
    return json.loads(FIXTURE_PATH.read_text())


def test_schema_version(cold_boot: dict) -> None:
    """The schema field locks the file shape; AZ-419's loader keys off it."""
    # Assert
    assert cold_boot["_schema"] == "cold-boot-fixture/v1"


def test_global_position_int_block(cold_boot: dict) -> None:
    """GLOBAL_POSITION_INT fields use canonical MAVLink units."""

    # Arrange
    gpi = cold_boot["global_position_int"]

    # Assert
    required = {
        "time_boot_ms",
        "lat_e7",
        "lon_e7",
        "alt_mm",
        "relative_alt_mm",
        "vx_cm_s",
        "vy_cm_s",
        "vz_cm_s",
        "hdg_cdeg",
    }
    assert required <= set(gpi), f"missing fields: {required - set(gpi)}"
    assert -90 * 10**7 <= gpi["lat_e7"] <= 90 * 10**7
    assert -180 * 10**7 <= gpi["lon_e7"] <= 180 * 10**7
    assert -50_000_000 <= gpi["alt_mm"] <= 50_000_000


def test_attitude_block(cold_boot: dict) -> None:
    """Attitude angles fall inside [-pi, pi]."""

    # Arrange
    att = cold_boot["attitude"]
    import math

    # Assert
    for field in ("roll_rad", "pitch_rad", "yaw_rad"):
        assert -math.pi <= att[field] <= math.pi, f"{field} out of range: {att[field]}"


def test_derkachi_lat_lon_inside_bbox(cold_boot: dict) -> None:
    """The frozen pose must be inside the Derkachi route bbox used by C2."""

    # Arrange
    lat = cold_boot["global_position_int"]["lat_e7"] / 10**7
    lon = cold_boot["global_position_int"]["lon_e7"] / 10**7

    # Assert
    assert 50.05 <= lat <= 50.10, f"lat {lat} outside Derkachi bbox"
    assert 36.10 <= lon <= 36.20, f"lon {lon} outside Derkachi bbox"


def test_provenance_block_present(cold_boot: dict) -> None:
    """AC-7: license + provenance fields documented inside the JSON itself."""
    # Assert
    assert "_license" in cold_boot
    assert "_provenance" in cold_boot
    assert "AZ-419" in cold_boot["_authored_for"][1]