mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 19:51:12 +00:00
Oleksandr Bezdieniezhnykh
103 lines
3.4 KiB
Python
103 lines
3.4 KiB
Python
from safety_anchor_wrapper import SafetyAnchorStateMachine, SafetyStateConfig, TelemetryContext
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from shared.contracts import AnchorDecision, VioStatePacket
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def _telemetry() -> TelemetryContext:
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return TelemetryContext(
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timestamp_ns=1_000_000,
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latitude_hint_deg=49.1,
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longitude_hint_deg=36.1,
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altitude_m=120.0,
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)
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def _vio_state(**overrides: object) -> VioStatePacket:
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payload: dict[str, object] = {
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"timestamp_ns": 1_000_000,
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"relative_pose": {"x_m": 1.0, "y_m": 0.0, "z_m": 0.0},
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"velocity_mps": (12.0, 0.0, 0.0),
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"tracking_quality": 0.9,
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"covariance_hint": [[1.8, 0.0], [0.0, 1.8]],
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}
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payload.update(overrides)
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return VioStatePacket.model_validate(payload)
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def _accepted_anchor() -> AnchorDecision:
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return AnchorDecision(
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candidate_id="chunk-1",
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accepted=True,
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estimated_pose={"latitude_deg": 49.2, "longitude_deg": 36.2, "altitude_m": 121.0},
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inliers=48,
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mean_reprojection_error_px=1.2,
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)
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def test_vio_state_updates_position_estimate_with_honest_covariance() -> None:
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# Arrange
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machine = SafetyAnchorStateMachine()
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# Act
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snapshot = machine.update_vio(_vio_state(), _telemetry())
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# Assert
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assert snapshot.estimate.source_label == "vo_extrapolated"
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assert snapshot.estimate.latitude_deg == 49.1
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assert snapshot.estimate.covariance_semimajor_m == 1.8
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assert snapshot.estimate.horizontal_accuracy_m >= snapshot.estimate.covariance_semimajor_m
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def test_accepted_anchor_corrects_state_and_records_evidence() -> None:
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# Arrange
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machine = SafetyAnchorStateMachine()
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machine.update_vio(_vio_state(), _telemetry())
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# Act
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snapshot = machine.consider_anchor(_accepted_anchor())
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# Assert
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assert snapshot.mode == "satellite_anchored"
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assert snapshot.estimate.latitude_deg == 49.2
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assert snapshot.anchor_evidence is not None
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assert snapshot.anchor_evidence.candidate_id == "chunk-1"
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def test_blackout_degrades_then_reaches_no_fix_with_monotonic_covariance() -> None:
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# Arrange
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machine = SafetyAnchorStateMachine(
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SafetyStateConfig(dead_reckoning_growth_m=250.0, no_fix_covariance_threshold_m=500.0)
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)
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machine.update_vio(_vio_state(covariance_hint=[[100.0]]), _telemetry())
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# Act
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degraded = machine.propagate_blackout(2_000_000)
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no_fix = machine.propagate_blackout(3_000_000)
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# Assert
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assert degraded.mode == "dead_reckoned"
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assert degraded.estimate.covariance_semimajor_m == 350.0
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assert no_fix.mode == "no_fix"
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assert no_fix.estimate.fix_type == 0
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assert no_fix.estimate.covariance_semimajor_m > degraded.estimate.covariance_semimajor_m
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def test_tile_write_eligibility_requires_trusted_low_covariance_pose() -> None:
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# Arrange
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machine = SafetyAnchorStateMachine(SafetyStateConfig(tile_write_covariance_max_m=3.0))
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machine.update_vio(_vio_state(covariance_hint=[[4.0]]), _telemetry())
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# Act
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high_covariance = machine.tile_write_eligibility()
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machine.consider_anchor(_accepted_anchor())
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anchored = machine.tile_write_eligibility()
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machine.propagate_blackout(2_000_000)
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blackout = machine.tile_write_eligibility()
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# Assert
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assert high_covariance.eligible is False
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assert high_covariance.reason == "covariance_too_high"
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assert anchored.eligible is True
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assert anchored.reason == "trusted_pose"
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assert blackout.eligible is False
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assert blackout.reason == "untrusted_source_label"
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