mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
89 lines
2.7 KiB
Python
89 lines
2.7 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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BlackboxReplayRunner,
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ScenarioConfig,
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ScenarioGroup,
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ScenarioResult,
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validate_derkachi_alignment,
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)
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from shared.contracts import FramePacket, TelemetrySample
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from vio_adapter import LocalVioAdapter, VioInputPacket
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def test_derkachi_alignment_validator_accepts_expected_fixture_shape() -> None:
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# Act
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metrics = validate_derkachi_alignment(
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video_duration_s=490.07,
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telemetry_duration_s=490.07,
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telemetry_rows=4_900,
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)
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# Assert
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assert metrics["alignment_valid"] is True
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assert metrics["duration_delta_s"] == 0.0
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assert metrics["frames_per_telemetry"] == pytest.approx(3.0, abs=0.05)
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def test_derkachi_alignment_validator_blocks_duration_drift() -> None:
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# Act / Assert
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with pytest.raises(ValueError, match="more than 250 ms"):
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validate_derkachi_alignment(
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video_duration_s=490.07,
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telemetry_duration_s=489.50,
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telemetry_rows=4_900,
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)
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def test_public_vio_replay_boundary_emits_frame_by_frame_estimate() -> None:
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# Arrange
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adapter = LocalVioAdapter()
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frame = FramePacket(
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frame_id="derkachi-0001",
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timestamp_ns=1_000_000_000,
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image_ref="_docs/00_problem/input_data/flight_derkachi/flight_derkachi.mp4#0",
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calibration_id="derkachi-calibration-gated",
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occlusion="clear",
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quality=0.9,
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)
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telemetry = (
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TelemetrySample(
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timestamp_ns=1_000_000_000,
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imu={"accel_x": 0.0, "accel_y": 0.0, "accel_z": -9.8},
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attitude={"roll": 0.0, "pitch": 0.0, "yaw": 1.0},
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altitude_m=400.0,
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airspeed_mps=22.0,
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gps_health="healthy",
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),
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)
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# Act
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result = adapter.process(VioInputPacket(frame=frame, telemetry_samples=telemetry))
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# Assert
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assert result.state_packet is not None
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assert result.health.state == "ready"
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assert result.state_packet.timestamp_ns == frame.timestamp_ns
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assert result.state_packet.tracking_quality > 0.0
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def test_public_dataset_and_calibration_prerequisites_are_reported_blocked(tmp_path: Path) -> None:
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# Arrange
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scenario = ScenarioConfig(
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scenario_id="FT-P-03-CALIBRATION",
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name="Calibration-gated public VIO dataset",
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group=ScenarioGroup.PERFORMANCE,
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input_dataset="public_nadir_vio_candidates",
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required_paths=(tmp_path / "camera_intrinsics.yaml",),
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)
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# Act
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result = BlackboxReplayRunner(output_root=tmp_path, scenarios=(scenario,)).run()
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# Assert
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report = result.reports[0]
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assert report.result == ScenarioResult.BLOCKED
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assert "camera_intrinsics.yaml" in report.error_message
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