mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 19:51:13 +00:00
Yuzviak
102 lines
4.0 KiB
Markdown
102 lines
4.0 KiB
Markdown
---
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phase: "01"
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plan: "06"
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subsystem: mavlink_io
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tags: [refactor, hexagonal, mavlink, shim]
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dependency_graph:
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requires: [01-05]
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provides: [components/mavlink_io]
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affects: [core/mavlink.py]
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tech_stack:
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added: []
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patterns: [shim-re-export, circular-import-avoidance-via-local-imports]
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key_files:
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created:
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- src/gps_denied/components/mavlink_io/pymavlink_bridge.py
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- src/gps_denied/components/mavlink_io/mock_mavlink.py
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modified:
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- src/gps_denied/components/mavlink_io/__init__.py
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- src/gps_denied/core/mavlink.py
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decisions:
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- "Used local (deferred) imports of MockMAVConnection inside MAVLinkBridge methods to avoid circular import between pymavlink_bridge and mock_mavlink"
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- "Shim re-exports all seven names including three private helpers (_confidence_to_fix_type, _eskf_to_gps_input, _unix_to_gps_time) per CRITICAL warning"
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metrics:
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duration: "~5 minutes"
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completed: "2026-05-11"
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tasks: 5
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files: 4
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---
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# Phase 01 Plan 06: MAVLink I/O Split Summary
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Split `core/mavlink.py` (483 LOC) into component modules under `components/mavlink_io/`, replacing the original with a shim that re-exports all public and private names verbatim.
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## LOC Distribution
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| File | LOC | Contents |
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|------|-----|----------|
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| `components/mavlink_io/pymavlink_bridge.py` | 455 | MAVLinkBridge class + 3 module-level helpers + pymavlink conditional import |
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| `components/mavlink_io/mock_mavlink.py` | 30 | MockMAVConnection (no-op for dev/CI) |
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| `core/mavlink.py` (shim) | 29 | Re-export shim only |
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| `components/mavlink_io/__init__.py` | 20 | Package surface |
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Original: 483 LOC → split across 4 files (514 total including shim and `__init__.py`).
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## Test Counts
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| Test file | Result |
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|-----------|--------|
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| `tests/test_mavlink.py` | 32 passed |
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| `tests/test_gps_input_encoding.py` | included in the 32 above |
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| Full regression (`tests/`) | 216 passed, 8 skipped |
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Regression floor: 216 passed (baseline). Status: MAINTAINED.
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## Private Helper Verification
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The three underscore names required by `test_mavlink.py` and `test_gps_input_encoding.py` resolve correctly via the shim:
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```
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python -c "from gps_denied.core.mavlink import _confidence_to_fix_type, _eskf_to_gps_input, _unix_to_gps_time; print('private helpers ok')"
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# Output: private helpers ok
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```
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All three are exported from `core/mavlink.py` → `components/mavlink_io/pymavlink_bridge.py` → callable.
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## `_PYMAVLINK_AVAILABLE` on Dev Machine
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```
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_PYMAVLINK_AVAILABLE = True
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```
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pymavlink is installed on this development machine, so `MAVLinkBridge._open_connection()` will attempt a real connection before falling back to `MockMAVConnection`.
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## Deviations from Plan
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### Auto-fixed Issues
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**1. [Rule 3 - Blocking] Circular import between pymavlink_bridge and mock_mavlink**
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- **Found during:** Task 1 (design review before writing)
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- **Issue:** `pymavlink_bridge.py` (MAVLinkBridge) uses `isinstance(self._conn, MockMAVConnection)` checks. If `mock_mavlink.py` were imported at module level in `pymavlink_bridge.py`, and `__init__.py` imports both, a circular import chain would form.
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- **Fix:** Used local (deferred) imports of `MockMAVConnection` inside each method that references it (`_send_gps_input`, `_recv_imu`, `_send_reloc_request`, `_send_telemetry`, `_open_connection`). This matches the pattern used in similar hexagonal refactors in this codebase.
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- **Files modified:** `pymavlink_bridge.py`
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- **Commit:** f965ac7
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## Known Stubs
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None. All data paths are wired: bridge reads from live ESKFState, writes to real or mock MAVLink connection.
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## Threat Flags
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None. No new network endpoints or auth paths introduced. The MAVLink UART connection was already present in the original `core/mavlink.py`.
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## Self-Check: PASSED
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- `src/gps_denied/components/mavlink_io/pymavlink_bridge.py` — FOUND
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- `src/gps_denied/components/mavlink_io/mock_mavlink.py` — FOUND
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- `src/gps_denied/components/mavlink_io/__init__.py` — FOUND (updated)
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- `src/gps_denied/core/mavlink.py` — FOUND (shim, 29 LOC)
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- Commit f965ac7 — FOUND
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- 216 tests passed — CONFIRMED
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