mirror of
https://github.com/azaion/gps-denied-onboard.git
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Yuzviak
dd9835c0cd
- ruff --fix: removed trailing whitespace (W293), sorted imports (I001) - Manual: broke long lines (E501) in eskf, rotation, vo, gpr, metric, pipeline, rotation tests - Removed unused imports (F401) in models.py, schemas/__init__.py - pyproject.toml: line-length 100→120, E501 ignore for abstract interfaces ruff check: 0 errors. pytest: 195 passed / 8 skipped. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
92 lines
3.0 KiB
Python
92 lines
3.0 KiB
Python
"""Tests for Image Rotation Manager (F06)."""
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from datetime import datetime, timezone
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import numpy as np
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import pytest
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from gps_denied.core.rotation import IImageMatcher, ImageRotationManager
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from gps_denied.schemas import GPSPoint
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from gps_denied.schemas.rotation import RotationResult
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from gps_denied.schemas.satellite import TileBounds
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@pytest.fixture
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def rotation_manager():
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return ImageRotationManager()
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def test_rotate_image_360(rotation_manager):
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img = np.zeros((100, 100, 3), dtype=np.uint8)
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# Just draw a white rectangle to test rotation
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img[10:40, 10:40] = [255, 255, 255]
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r90 = rotation_manager.rotate_image_360(img, 90.0)
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assert r90.shape == (100, 100, 3)
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# Top left corner should move
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assert not np.array_equal(img, r90)
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def test_heading_management(rotation_manager):
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fid = "flight_1"
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now = datetime.now(timezone.utc)
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assert rotation_manager.get_current_heading(fid) is None
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rotation_manager.update_heading(fid, 1, 370.0, now) # should modulo to 10
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assert rotation_manager.get_current_heading(fid) == 10.0
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rotation_manager.update_heading(fid, 2, 90.0, now)
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assert rotation_manager.get_current_heading(fid) == 90.0
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def test_detect_sharp_turn(rotation_manager):
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fid = "flight_2"
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now = datetime.now(timezone.utc)
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assert rotation_manager.detect_sharp_turn(fid, 90.0) is False # no history
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rotation_manager.update_heading(fid, 1, 90.0, now)
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assert rotation_manager.detect_sharp_turn(fid, 100.0) is False # delta 10
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assert rotation_manager.detect_sharp_turn(fid, 180.0) is True # delta 90
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assert rotation_manager.detect_sharp_turn(fid, 350.0) is True # delta 100
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assert rotation_manager.detect_sharp_turn(fid, 80.0) is False # delta 10 (wraparound)
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# Wraparound test explicitly
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rotation_manager.update_heading(fid, 2, 350.0, now)
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assert rotation_manager.detect_sharp_turn(fid, 10.0) is False # delta 20
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class MockMatcher(IImageMatcher):
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def align_to_satellite(
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self, uav_image: np.ndarray, satellite_tile: np.ndarray,
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tile_bounds: TileBounds,
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) -> RotationResult:
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# Mock that only matches when angle was originally 90
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# By checking internal state or just returning generic true for test
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return RotationResult(matched=True, initial_angle=90.0, precise_angle=90.0, confidence=0.99)
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def test_try_rotation_steps(rotation_manager):
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fid = "flight_3"
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img = np.zeros((10, 10, 3), dtype=np.uint8)
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sat = np.zeros((10, 10, 3), dtype=np.uint8)
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nw = GPSPoint(lat=10.0, lon=10.0)
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se = GPSPoint(lat=9.0, lon=11.0)
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tb = TileBounds(nw=nw, ne=nw, sw=se, se=se, center=nw, gsd=0.5)
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matcher = MockMatcher()
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# Should perform sweep and mock matcher says matched=True immediately in the loop
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res = rotation_manager.try_rotation_steps(fid, 1, img, sat, tb, datetime.now(timezone.utc), matcher)
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assert res is not None
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assert res.matched is True
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# The first step is 0 degrees, the mock matcher returns matched=True.
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# Therefore the first matched angle is 0.
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assert res.initial_angle == 0.0
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