mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:26:38 +00:00
Yuzviak
78dcf7b4e7
Phase A — Runtime bugs: - SSE: add push_event() method to SSEEventStreamer (was missing, masked by mocks) - MAVLink: satellites_visible=10 (was 0, triggers ArduPilot failsafe) - MAVLink: horiz_accuracy=sqrt(P[0,0]+P[1,1]) per spec (was sqrt(avg)) - MAVLink: MEDIUM confidence → fix_type=3 per solution.md (was 2) Phase B — Functional gaps: - handle_user_fix() injects operator GPS into ESKF with noise=500m - app.py uses create_vo_backend() factory (was hardcoded SequentialVO) - ESKF: Mahalanobis gating on satellite updates (rejects outliers >5σ) - ESKF: public accessors (position, quaternion, covariance, last_timestamp) - Processor: no more private ESKF field access Phase C — Documentation: - README: correct API endpoints, CLI command, 40+ env vars documented - Dockerfile: ENV prefixes match pydantic-settings (DB_, SATELLITE_, MAVLINK_) - tech_stack.md marked ARCHIVED (contradicts solution.md) Phase D — Hardening: - JWT auth middleware (AUTH_ENABLED=false default, verify_token on /flights) - TLS config env vars (AUTH_SSL_CERTFILE, AUTH_SSL_KEYFILE) - SHA-256 tile manifest verification in SatelliteDataManager - AuthConfig, ESKFSettings, MAVLinkConfig, SatelliteConfig in config.py Also: conftest.py shared fixtures, download_tiles.py, convert_to_trt.py scripts, config wiring into app.py lifespan, config-driven ESKF, calculate_precise_angle fix. Tests: 196 passed / 8 skipped. Ruff clean. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
62 lines
1.5 KiB
Python
62 lines
1.5 KiB
Python
"""Shared test fixtures for GPS-denied-onboard test suite."""
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from unittest.mock import AsyncMock, MagicMock
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import numpy as np
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import pytest
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from gps_denied.core.coordinates import CoordinateTransformer
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from gps_denied.core.models import ModelManager
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from gps_denied.schemas import CameraParameters, GPSPoint
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# ---------------------------------------------------------------
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# Common constants
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# ---------------------------------------------------------------
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TEST_ORIGIN = GPSPoint(lat=49.0, lon=32.0)
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TEST_CAMERA = CameraParameters(
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focal_length=4.5,
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sensor_width=6.17,
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sensor_height=4.55,
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resolution_width=640,
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resolution_height=480,
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)
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# ---------------------------------------------------------------
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# Shared fixtures
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# ---------------------------------------------------------------
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@pytest.fixture
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def mock_repo():
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"""Mock FlightRepository."""
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return MagicMock()
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@pytest.fixture
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def mock_streamer():
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"""Mock SSEEventStreamer with async push_event."""
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s = MagicMock()
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s.push_event = AsyncMock()
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return s
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@pytest.fixture
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def model_manager():
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"""Singleton ModelManager (mock engines)."""
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return ModelManager()
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@pytest.fixture
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def coord_transformer():
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"""CoordinateTransformer with a preset test ENU origin."""
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ct = CoordinateTransformer()
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ct.set_enu_origin("test_flight", TEST_ORIGIN)
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return ct
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@pytest.fixture
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def sample_image():
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"""Random 200x200 RGB image for pipeline tests."""
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return np.random.randint(0, 255, (200, 200, 3), dtype=np.uint8)
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