gps-denied-onboard/e2e/_unit_tests/helpers/test_estimate_schema.py

"""Unit tests for the AZ-411 estimate-schema validators (FT-P-03, FT-P-14).

Validates AC-1 (schema completeness), AC-2 (source-label set containment),
AC-3 (WGS84 range), and the int32 1e-7 decoder. The full single-image
push scenario in ``test_ft_p_03_14_schema_wgs84.py`` is skipped until
the upstream replay/SITL helpers land — these tests are the AC coverage
for the logic itself.
"""

from __future__ import annotations

import math

import pytest

from runner.helpers.estimate_schema import (
    ALLOWED_SOURCE_LABELS,
    LAT_LON_SCALE,
    REQUIRED_FIELDS,
    aggregate_validations,
    decode_lat_lon_int32,
    validate_estimate_schema,
    validate_source_label,
    validate_wgs84_range,
)


# ---------------------------------------------------------------------------
# AC-1: schema completeness
# ---------------------------------------------------------------------------


def _valid_record(**overrides: object) -> dict:
    """A baseline record that satisfies all four REQUIRED_FIELDS."""
    return {
        "lat": 50.075,
        "lon": 36.150,
        "cov_semi_major_m": 4.5,
        "last_satellite_anchor_age_ms": 1234,
        **overrides,
    }


def test_valid_record_passes_schema() -> None:
    # Arrange / Act
    result = validate_estimate_schema(_valid_record())
    # Assert
    assert result.ok is True
    assert result.missing_fields == []
    assert result.wrong_typed_fields == []


def test_missing_field_caught() -> None:
    # Arrange
    rec = _valid_record()
    del rec["cov_semi_major_m"]
    # Act
    result = validate_estimate_schema(rec)
    # Assert
    assert not result.ok
    assert "cov_semi_major_m" in result.missing_fields


def test_int_typed_field_rejected_when_wrong_type() -> None:
    # Arrange — last_satellite_anchor_age_ms is supposed to be int, not float
    rec = _valid_record(last_satellite_anchor_age_ms=1.5)
    # Act
    result = validate_estimate_schema(rec)
    # Assert
    assert not result.ok
    assert "last_satellite_anchor_age_ms" in result.wrong_typed_fields


def test_bool_does_not_silently_satisfy_int() -> None:
    """Python ``isinstance(True, int)`` is True; we must reject it explicitly."""
    # Arrange
    rec = _valid_record(last_satellite_anchor_age_ms=True)
    # Act
    result = validate_estimate_schema(rec)
    # Assert
    assert not result.ok
    assert "last_satellite_anchor_age_ms" in result.wrong_typed_fields


def test_required_fields_table_is_what_the_spec_says() -> None:
    """Guard against accidental drift between the helper and the AZ-411 spec."""
    # Arrange
    names = [n for n, _ in REQUIRED_FIELDS]
    # Assert
    assert names == ["lat", "lon", "cov_semi_major_m", "last_satellite_anchor_age_ms"]


# ---------------------------------------------------------------------------
# AC-2: source-label set containment
# ---------------------------------------------------------------------------


@pytest.mark.parametrize("label", sorted(ALLOWED_SOURCE_LABELS))
def test_each_allowed_label_passes(label: str) -> None:
    # Arrange / Act
    result = validate_source_label(label)
    # Assert
    assert result.ok
    assert result.observed == label


def test_unknown_label_rejected() -> None:
    # Arrange / Act
    result = validate_source_label("imu_only")
    # Assert
    assert not result.ok
    assert "not in" in (result.reason or "")


def test_non_string_label_rejected() -> None:
    # Arrange / Act
    result = validate_source_label(42)
    # Assert
    assert not result.ok
    assert "expected str" in (result.reason or "")


# ---------------------------------------------------------------------------
# AC-3: WGS84 range + int32 decoding
# ---------------------------------------------------------------------------


def test_valid_wgs84_inside_range() -> None:
    # Arrange / Act
    result = validate_wgs84_range(50.075, 36.150)
    # Assert
    assert result.ok


def test_lat_above_90_rejected() -> None:
    # Arrange / Act / Assert
    assert not validate_wgs84_range(91.0, 0.0).ok


def test_lon_below_minus_180_rejected() -> None:
    # Arrange / Act / Assert
    assert not validate_wgs84_range(0.0, -181.0).ok


def test_nan_rejected() -> None:
    # Arrange / Act / Assert
    assert not validate_wgs84_range(math.nan, 0.0).ok


def test_decode_lat_lon_int32_round_trip() -> None:
    # Arrange — encode Derkachi-ish coords as int32 1e-7 then decode
    lat_e7 = 500_750_000
    lon_e7 = 361_500_000
    # Act
    lat, lon = decode_lat_lon_int32(lat_e7, lon_e7)
    # Assert
    assert abs(lat - 50.075) < 1e-6
    assert abs(lon - 36.150) < 1e-6
    assert lat == lat_e7 * LAT_LON_SCALE


def test_decode_lat_lon_int32_rejects_out_of_int32_range() -> None:
    # Arrange / Act / Assert
    with pytest.raises(ValueError, match="lat_e7"):
        decode_lat_lon_int32(2 ** 31, 0)
    with pytest.raises(ValueError, match="lon_e7"):
        decode_lat_lon_int32(0, -(2 ** 31) - 1)


# ---------------------------------------------------------------------------
# aggregate_validations
# ---------------------------------------------------------------------------


def test_aggregate_validations_all_ok() -> None:
    # Arrange
    records = [_valid_record(), _valid_record(lat=49.9, lon=36.0)]
    # Act
    schemas, wgs84s = aggregate_validations(records)
    # Assert
    assert all(s.ok for s in schemas)
    assert all(w.ok for w in wgs84s)


def test_aggregate_validations_surfaces_bad_record() -> None:
    # Arrange — one good, one missing lat
    bad = _valid_record()
    del bad["lat"]
    records = [_valid_record(), bad]
    # Act
    schemas, wgs84s = aggregate_validations(records)
    # Assert
    assert schemas[0].ok
    assert not schemas[1].ok
    # When lat is missing, wgs84 validator emits a missing-field result too.
    assert not wgs84s[1].ok