mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 21:46:36 +00:00
Yuzviak
a05381ade2
Opt-in trace_path parameter dumps one JSON record per processed frame with the fields diagnostics need: frame_idx, timestamp_ns, vo_success, alignment_success, tracking_state, confidence, eskf_initialized, eskf_position_enu (or None), eskf_pos_sigma_m, estimate_lat/lon, gt_lat/lon/alt No perf cost when trace_path is None. File is rotated per run — safe to point at /tmp/foo.jsonl for ad-hoc debugging. First real run on EuRoC MH_01 (100 frames) immediately exposes the concrete divergence: vo_success=0/100 (VO never engages on EuRoC grayscale imagery with current SP+LG adapter), eskf_initialized=0/100, alignment_success=77/100 (satellite-fallback path fires). Diagnosis that was hidden behind a single "ATE=10.9 km" number is now machine- readable per frame. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
125 lines
4.4 KiB
Python
125 lines
4.4 KiB
Python
"""Harness smoke test: synthetic adapter → FlightProcessor → sink → metrics.
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The synthetic adapter produces a straight-line trajectory; we only check that
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the harness runs to completion and produces one estimate per input frame.
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Correctness of VO on synthetic is out of scope — that's unit-test territory.
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"""
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import pytest
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from gps_denied.testing.datasets.synthetic import SyntheticAdapter
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from gps_denied.testing.harness import E2EHarness, HarnessResult
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@pytest.mark.asyncio
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async def test_harness_processes_every_frame():
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adapter = SyntheticAdapter(num_frames=5, fps=5.0)
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harness = E2EHarness(adapter)
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result: HarnessResult = await harness.run()
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assert isinstance(result, HarnessResult)
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assert result.num_frames_submitted == 5
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# Product may emit estimates for every frame or skip some during warm-up.
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# Smoke assertion: we got SOMETHING back.
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assert result.num_estimates >= 0
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assert result.ground_truth.shape[0] == 5
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assert result.ground_truth.shape[1] == 3
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@pytest.mark.asyncio
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async def test_harness_captures_ground_truth_as_enu():
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adapter = SyntheticAdapter(num_frames=3, fps=5.0, speed_m_s=10.0)
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harness = E2EHarness(adapter)
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result = await harness.run()
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# Starting at origin, 10 m/s east, at t=0.4s we expect ~4m east
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# GT array ordered by frame index
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east_disp = result.ground_truth[-1, 0] - result.ground_truth[0, 0]
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# Allow 5% tolerance for the lat/lon → ENU conversion approximation
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assert abs(east_disp - 4.0) < 0.5
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@pytest.mark.asyncio
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async def test_harness_max_frames_truncates_iteration():
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# Adapter says 10 frames; harness with max_frames=3 should stop at 3.
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adapter = SyntheticAdapter(num_frames=10, fps=5.0)
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harness = E2EHarness(adapter, max_frames=3)
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result = await harness.run()
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assert result.num_frames_submitted == 3
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# GT aligned to the same truncation so downstream metrics match lengths
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assert result.ground_truth.shape[0] == 3
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@pytest.mark.asyncio
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async def test_harness_max_frames_none_runs_full():
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# Explicit None = no limit (same as omitting the parameter).
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adapter = SyntheticAdapter(num_frames=4, fps=5.0)
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harness = E2EHarness(adapter, max_frames=None)
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result = await harness.run()
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assert result.num_frames_submitted == 4
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@pytest.mark.asyncio
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async def test_harness_max_frames_larger_than_dataset_is_harmless():
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# Limit above dataset size should not over-extend.
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adapter = SyntheticAdapter(num_frames=4, fps=5.0)
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harness = E2EHarness(adapter, max_frames=100)
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result = await harness.run()
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assert result.num_frames_submitted == 4
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@pytest.mark.asyncio
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async def test_harness_trace_path_none_does_not_emit(tmp_path):
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# No trace_path → no file created, no perf cost from serialisation.
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adapter = SyntheticAdapter(num_frames=3, fps=5.0)
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harness = E2EHarness(adapter)
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await harness.run()
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# Sanity: tmp_path stays empty (harness never touches it).
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assert list(tmp_path.iterdir()) == []
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@pytest.mark.asyncio
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async def test_harness_trace_path_writes_jsonl_with_expected_fields(tmp_path):
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import json
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trace = tmp_path / "run.jsonl"
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adapter = SyntheticAdapter(num_frames=4, fps=5.0)
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harness = E2EHarness(adapter, trace_path=trace)
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await harness.run()
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assert trace.is_file()
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lines = trace.read_text().splitlines()
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# One JSON record per submitted frame
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assert len(lines) == 4
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first = json.loads(lines[0])
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# Contract: every record carries these keys so downstream tooling can
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# depend on them across datasets.
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expected_keys = {
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"frame_idx",
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"timestamp_ns",
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"vo_success",
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"alignment_success",
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"tracking_state",
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"confidence",
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"eskf_initialized",
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"eskf_position_enu", # list[3] or None when not initialized
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"eskf_pos_sigma_m", # float or None
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"estimate_lat", # float or None
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"estimate_lon",
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"gt_lat",
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"gt_lon",
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"gt_alt",
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}
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missing = expected_keys - set(first.keys())
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assert not missing, f"trace record missing keys: {missing}"
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@pytest.mark.asyncio
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async def test_harness_trace_truncates_with_max_frames(tmp_path):
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# When max_frames caps iteration, trace file has exactly that many lines.
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trace = tmp_path / "run.jsonl"
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adapter = SyntheticAdapter(num_frames=10, fps=5.0)
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harness = E2EHarness(adapter, max_frames=3, trace_path=trace)
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await harness.run()
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lines = trace.read_text().splitlines()
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assert len(lines) == 3
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