mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 14:41:15 +00:00
Oleksandr Bezdieniezhnykh
4e0717e543
- Add build_p02_fixtures.py: IMU CSV → tlog conversion (RAW_IMU + ATTITUDE pairs, centidegrees→radians yaw) and orchestrator that runs gps-denied replay against Derkachi MP4 + generated tlog, verifying ≥1 record_type="estimate" in the FDR archive. - Extract run_gps_denied_replay + FDR-parent-dir helpers into sitl_replay_builder/_common.py; refactor build_p01_fixtures.py to import from _common (b78 tests preserved). - Add 20 unit tests under e2e/_unit_tests/fixtures/test_sitl_ replay_builder_p02.py covering AC-1..AC-5; total unit suite 686/686 passing (regression gate AC-6). - README updated to document FT-P-01 + FT-P-02 builders. - Advance autodev state: last_completed_batch=79, current_batch=80; prune verbose detail blob. Co-authored-by: Cursor <cursoragent@cursor.com>
86 lines
2.8 KiB
Python
86 lines
2.8 KiB
Python
"""Shared helpers for the per-scenario fixture builders (AZ-599).
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Both `build_p01_fixtures.py` (still-image FT-P-01) and
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`build_p02_fixtures.py` (Derkachi FT-P-02) shell out to the production
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`gps-denied-replay` CLI and write the same minimal `observer_*.json`
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config; the helpers below live here so there's one canonical
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implementation.
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Future per-scenario builders (FT-P-04 / FT-P-05 / FT-P-10 / …) should
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also import from this module.
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"""
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from __future__ import annotations
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import json
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import logging
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import subprocess
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from pathlib import Path
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from typing import Callable, Sequence
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_LOG = logging.getLogger(__name__)
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DEFAULT_CLI_BIN = "gps-denied-replay"
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def run_gps_denied_replay(
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video: Path,
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tlog: Path,
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fdr_out: Path,
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*,
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cli_bin: str = DEFAULT_CLI_BIN,
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time_offset_ms: int = 0,
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extra_args: Sequence[str] = (),
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_runner: Callable[[Sequence[str]], subprocess.CompletedProcess] | None = None,
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) -> subprocess.CompletedProcess:
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"""Run ``gps-denied-replay`` as a subprocess.
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The `time_offset_ms` defaults to 0 because both b78 (synthetic
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stationary tlog) and b79 (Derkachi real-motion tlog) intentionally
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bypass auto-sync — b78 because there's no take-off signal, b79
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because the IMU CSV is already aligned with the video. Operators
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running this against truly independent tlog+video pairs SHOULD
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omit ``time_offset_ms`` and let the production auto-sync run.
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Raises ``subprocess.CalledProcessError`` on non-zero exit code.
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The default subprocess runner can be swapped via ``_runner`` for
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unit tests.
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"""
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fdr_out.parent.mkdir(parents=True, exist_ok=True)
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cmd: list[str] = [
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cli_bin,
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"--video", str(video),
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"--tlog", str(tlog),
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"--time-offset-ms", str(time_offset_ms),
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"--fdr-out", str(fdr_out),
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*extra_args,
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]
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_LOG.info("running: %s", " ".join(cmd))
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runner = _runner or (lambda c: subprocess.run(c, check=True, capture_output=True, text=True))
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return runner(cmd)
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def write_observer_fixture(output_path: Path) -> None:
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"""Write minimal `observer_<fc_kind>_<host>.json` so `get_observer` succeeds.
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Scenarios that only consume `wait_for_outbound` or `iter_records`
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still trigger `sitl_observer.get_observer(...)` for construction.
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Populate with safe defaults; scenarios that care about
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`read_gps_state` carry their own observer fixtures.
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"""
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payload = {
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"gps_state": {
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"primary_source": "MAV",
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"last_position_lat_deg": 0.0,
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"last_position_lon_deg": 0.0,
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"last_position_alt_m": 0.0,
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"fix_quality": 3,
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"horizontal_accuracy_m": 1.0,
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"last_update_age_ms": 0,
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},
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"parameters": {},
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}
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output_path.parent.mkdir(parents=True, exist_ok=True)
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output_path.write_text(json.dumps(payload, indent=2))
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