mirror of
https://github.com/azaion/gps-denied-onboard.git
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362e93c626
Adds the C8 foundation: - FcAdapter / GcsAdapter / ReplaySink Protocols + contract DTOs in _types/fc.py (PortConfig, FcKind, FlightState, GpsStatus, Severity, TelemetryKind, FcTelemetryFrame, FlightStateSignal, GpsHealth, OperatorCommand, Subscription, Imu/Attitude samples). - Disjoint FcAdapterError / GcsAdapterError trees with SourceSetSwitchNotSupportedError <: SourceSetSwitchError per AC-9. - FcConfig + GcsConfig cross-cutting Config blocks with config-load validation (unknown strategy rejected at __post_init__). - runtime_root/fc_factory.py: build_fc_adapter / build_gcs_adapter with BUILD_FC_*/BUILD_GCS_* flag gating + INFO log on load + single-writer outbound-thread binding. - CovarianceProjector (helper, AZ-392): 6x6 -> 3x3 -> 2x2 -> sqrt(lambda_max) reduction; AP returns float m, iNav returns int mm with uint16 clamp + WARN + FDR record. Non-SPD / NaN / wrong-shape raise FcEmitError and emit an FDR ERROR record carrying frame_id. Contracts: - composition_root_protocol.md 1.1.0 -> 1.2.0 (added fc/gcs blocks + build_fc_adapter / build_gcs_adapter + outbound-thread binding). - fc_adapter_protocol.md unchanged (this batch implements v1.0.0). Tests: 410 pass / 2 skip / 0 fail (+53 new tests in batch 8). AZ-391 (inbound subscription) deferred to batch 9 — pulls YAMSPy as a new external dependency (iNav MSP2 decode). Co-authored-by: Cursor <cursoragent@cursor.com>
29 lines
766 B
Python
29 lines
766 B
Python
"""C8 FC Adapter smoke test — AC-9 (legacy) + AZ-390 public-API gate."""
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def test_interface_importable() -> None:
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# Assert
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from gps_denied_onboard.components.c8_fc_adapter import (
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EmittedExternalPosition,
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FcAdapter,
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GcsAdapter,
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ReplaySink,
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)
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for sym in (FcAdapter, GcsAdapter, ReplaySink, EmittedExternalPosition):
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assert sym is not None
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def test_internal_modules_not_in_public_all() -> None:
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"""AZ-390 AC-8: only the contract symbols appear in ``__all__``."""
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# Arrange
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from gps_denied_onboard.components import c8_fc_adapter
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# Assert
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assert set(c8_fc_adapter.__all__) == {
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"EmittedExternalPosition",
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"FcAdapter",
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"GcsAdapter",
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"ReplaySink",
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}
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