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

"""Integration tests for `e2e/fixtures/sitl_replay_builder/build_p01_fixtures.py` (FT-P-01).

Strategy-level unit tests for the underlying ``builder.py`` machinery live
in ``test_sitl_replay_builder_builder.py``. This file exercises the
FT-P-01 scenario composition end-to-end (with all external deps mocked).
"""

from __future__ import annotations

import json
import subprocess
import types
from pathlib import Path
from unittest.mock import MagicMock

import pytest

import e2e.fixtures.sitl_replay_builder.build_p01_fixtures as bp01


def _mk_fake_video_writer() -> MagicMock:
    w = MagicMock(name="VideoWriter")
    w.write = MagicMock()
    w.release = MagicMock()
    return w


def _write_jsonl(path: Path, records: list[dict]) -> None:
    path.parent.mkdir(parents=True, exist_ok=True)
    path.write_text("\n".join(json.dumps(r) for r in records))


# resolve_p01_image_paths


def test_resolve_p01_image_paths_missing_dir_raises(tmp_path: Path):
    # Assert
    with pytest.raises(FileNotFoundError, match="input dir not found"):
        bp01.resolve_p01_image_paths(tmp_path / "missing")


def test_resolve_p01_image_paths_sorted(tmp_path: Path):
    # Arrange
    for n in (3, 1, 2):
        (tmp_path / f"AD{n:06d}.jpg").touch()
    (tmp_path / "ignored.txt").touch()

    # Act
    paths = bp01.resolve_p01_image_paths(tmp_path)

    # Assert — only AD*.jpg, sorted by name
    assert [p.name for p in paths] == ["AD000001.jpg", "AD000002.jpg", "AD000003.jpg"]


# build_p01_fixtures end-to-end


def test_build_p01_fixtures_no_images_raises(tmp_path: Path):
    # Arrange
    (tmp_path / "empty").mkdir()
    cfg = bp01.BuilderConfig(
        input_dir=tmp_path / "empty", output_dir=tmp_path / "out",
        fc_kind="ardupilot", host="sitl-host",
    )

    # Assert
    with pytest.raises(FileNotFoundError, match="no AD\\?\\?\\?\\?\\?\\?.jpg images"):
        bp01.build_p01_fixtures(cfg)


def test_build_p01_fixtures_end_to_end_with_mocks(tmp_path: Path):
    # Arrange — 3 fake AD000NN.jpg files, mocked OpenCV / pymavlink / subprocess
    input_dir = tmp_path / "in"
    output_dir = tmp_path / "out"
    input_dir.mkdir()
    for n in range(1, 4):
        (input_dir / f"AD{n:06d}.jpg").touch()

    writer = _mk_fake_video_writer()
    frame = types.SimpleNamespace(shape=(480, 640, 3))
    mav_writer = MagicMock(write=MagicMock(), close=MagicMock())

    def fake_runner(cmd):
        fdr_path = Path(cmd[cmd.index("--fdr-out") + 1])
        _write_jsonl(fdr_path, [
            {"kind": "outbound_position_estimate", "payload": {"lat_deg": 1.0, "lon_deg": 2.0}},
            {"kind": "outbound_position_estimate", "payload": {"lat_deg": 3.0, "lon_deg": 4.0}},
            {"kind": "outbound_position_estimate", "payload": {"lat_deg": 5.0, "lon_deg": 6.0}},
        ])
        return subprocess.CompletedProcess(cmd, 0)

    cfg = bp01.BuilderConfig(
        input_dir=input_dir, output_dir=output_dir,
        fc_kind="ardupilot", host="sitl-host",
    )

    # Act
    result_dir = bp01.build_p01_fixtures(
        cfg,
        _runner=fake_runner,
        _video_writer_factory=lambda out, w, h: writer,
        _imread=lambda p: frame,
        _mavlink_writer_factory=lambda out: mav_writer,
    )

    # Assert
    assert result_dir == output_dir
    outbound_payload = json.loads((output_dir / "outbound_messages_ardupilot_sitl-host.json").read_text())
    assert outbound_payload == {
        "messages": [
            {"image_id": "AD000001.jpg", "lat_deg": 1.0, "lon_deg": 2.0},
            {"image_id": "AD000002.jpg", "lat_deg": 3.0, "lon_deg": 4.0},
            {"image_id": "AD000003.jpg", "lat_deg": 5.0, "lon_deg": 6.0},
        ]
    }
    assert (output_dir / "observer_ardupilot_sitl-host.json").is_file()


def test_build_p01_fixtures_fewer_estimates_than_frames_pads_nulls(tmp_path: Path):
    # Arrange — 3 frames, FDR yields 1 estimate; expect 2 null entries
    input_dir = tmp_path / "in"
    output_dir = tmp_path / "out"
    input_dir.mkdir()
    for n in range(1, 4):
        (input_dir / f"AD{n:06d}.jpg").touch()

    def fake_runner(cmd):
        fdr_path = Path(cmd[cmd.index("--fdr-out") + 1])
        _write_jsonl(fdr_path, [
            {"kind": "outbound_position_estimate", "payload": {"lat_deg": 1.0, "lon_deg": 2.0}},
        ])
        return subprocess.CompletedProcess(cmd, 0)

    cfg = bp01.BuilderConfig(
        input_dir=input_dir, output_dir=output_dir,
        fc_kind="ardupilot", host="sitl-host",
    )

    # Act
    bp01.build_p01_fixtures(
        cfg,
        _runner=fake_runner,
        _video_writer_factory=lambda out, w, h: _mk_fake_video_writer(),
        _imread=lambda p: types.SimpleNamespace(shape=(480, 640, 3)),
        _mavlink_writer_factory=lambda out: MagicMock(write=MagicMock(), close=MagicMock()),
    )

    # Assert
    payload = json.loads((output_dir / "outbound_messages_ardupilot_sitl-host.json").read_text())
    assert payload["messages"][0]["lat_deg"] == 1.0
    assert payload["messages"][1] is None
    assert payload["messages"][2] is None


def test_build_p01_fixtures_more_estimates_than_frames_truncates(tmp_path: Path, caplog):
    # Arrange — 2 frames, FDR yields 4 estimates; expect 2 retained + WARN
    input_dir = tmp_path / "in"
    output_dir = tmp_path / "out"
    input_dir.mkdir()
    for n in range(1, 3):
        (input_dir / f"AD{n:06d}.jpg").touch()

    def fake_runner(cmd):
        fdr_path = Path(cmd[cmd.index("--fdr-out") + 1])
        _write_jsonl(fdr_path, [
            {"kind": "outbound_position_estimate", "payload": {"lat_deg": float(i), "lon_deg": float(i)}}
            for i in range(4)
        ])
        return subprocess.CompletedProcess(cmd, 0)

    cfg = bp01.BuilderConfig(
        input_dir=input_dir, output_dir=output_dir,
        fc_kind="ardupilot", host="sitl-host",
    )

    # Act
    with caplog.at_level("WARNING"):
        bp01.build_p01_fixtures(
            cfg,
            _runner=fake_runner,
            _video_writer_factory=lambda out, w, h: _mk_fake_video_writer(),
            _imread=lambda p: types.SimpleNamespace(shape=(480, 640, 3)),
            _mavlink_writer_factory=lambda out: MagicMock(write=MagicMock(), close=MagicMock()),
        )

    # Assert
    payload = json.loads((output_dir / "outbound_messages_ardupilot_sitl-host.json").read_text())
    assert len(payload["messages"]) == 2
    assert any("truncating" in rec.message for rec in caplog.records)