mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
69 lines
2.3 KiB
Python
69 lines
2.3 KiB
Python
from pathlib import Path
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import pytest
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from e2e.replay.harness import (
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ReplayEstimate,
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evaluate_still_image_estimates,
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load_expected_coordinates,
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)
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def test_expected_coordinate_loader_rejects_invalid_wgs84_rows(tmp_path: Path) -> None:
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# Arrange
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coordinates_path = tmp_path / "coordinates.csv"
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coordinates_path.write_text("image, lat, lon\nAD000001.jpg, 120.0, 37.0\n", encoding="utf-8")
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# Act / Assert
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with pytest.raises(ValueError, match="outside WGS84 bounds"):
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load_expected_coordinates(coordinates_path)
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def test_still_image_replay_reports_coordinate_thresholds_and_latency() -> None:
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# Arrange
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expected = load_expected_coordinates(Path("_docs/00_problem/input_data/coordinates.csv"))
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estimates = tuple(
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ReplayEstimate(
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image_ref=coordinate.image_ref,
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latitude_deg=coordinate.latitude_deg + 0.00001,
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longitude_deg=coordinate.longitude_deg + 0.00001,
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covariance_95_semi_major_m=8.0,
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source_label="satellite_anchored",
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anchor_age_ms=150,
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capture_to_output_latency_ms=40.0 + index,
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)
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for index, coordinate in enumerate(expected)
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)
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# Act
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metrics = evaluate_still_image_estimates(expected, estimates)
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# Assert
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assert metrics["threshold_passed"] is True
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assert metrics["within_50_m_rate"] >= 0.80
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assert metrics["within_20_m_rate"] >= 0.50
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assert metrics["p50_latency_ms"] > 0.0
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assert metrics["p95_latency_ms"] >= metrics["p50_latency_ms"]
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assert metrics["p99_latency_ms"] >= metrics["p95_latency_ms"]
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assert metrics["dropped_frame_rate"] == 0.0
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def test_confidence_contract_validation_fails_missing_source_label() -> None:
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# Arrange
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expected = load_expected_coordinates(Path("_docs/00_problem/input_data/coordinates.csv"))[:1]
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estimates = (
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ReplayEstimate(
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image_ref=expected[0].image_ref,
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latitude_deg=expected[0].latitude_deg,
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longitude_deg=expected[0].longitude_deg,
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covariance_95_semi_major_m=8.0,
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source_label="",
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anchor_age_ms=0,
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capture_to_output_latency_ms=10.0,
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),
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)
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# Act / Assert
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with pytest.raises(ValueError, match="source label is missing"):
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evaluate_still_image_estimates(expected, estimates)
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