mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 21:01:12 +00:00
Oleksandr Bezdieniezhnykh
2c31cc094f
Implements the replay-mode CLI dispatcher per ADR-011 (replay-as- configuration): - src/gps_denied_onboard/cli/replay.py: argparse with all 6 required args (--video, --tlog, --output, --camera-calibration, --config, --mavlink-signing-key) plus --pace and --time-offset-ms; path validation, calibration JSON schema-validation, config mutation (mode='replay' + replay sub-block + signing-key hex on dev_static field), dispatch into runtime_root.main(config). - runtime_root.main() now accepts an optional Config (additive, backward-compat). Adds dedicated catch for ReplayInputAdapterError mapping to EXIT_FDR_OPEN_FAILURE (2) so the CLI's exit-code matrix holds end-to-end (AC-9 + epic AZ-265 AC-8). - Signing-key contents stored as hex; redacted in startup banner. - Top-level except logs full traceback via logger.exception + stderr print and exits 1. The CLI does NOT call compose_root directly — it builds a Config and hands it to the shared airborne main, which calls compose_root, which branches on config.mode (AZ-401 / replay protocol Invariant 11). Tests: 22 unit tests covering AC-1..AC-10 + extras (signing-key redaction, file-not-dir validation, dev_static propagation, unhandled exception traceback). Full regression: 2085 passed (+22) green; no new flaky tests. Co-authored-by: Cursor <cursoragent@cursor.com>
555 lines
16 KiB
Python
555 lines
16 KiB
Python
"""AZ-402 — `gps-denied-replay` console-script unit tests.
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Covers AC-1..AC-10 of the AZ-402 task spec. AC-10 (console-script
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registered) ships as both a static pyproject.toml assertion and a
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subprocess smoke test gated on the package being installed.
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Implements ``_docs/02_document/contracts/replay/replay_protocol.md``
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v2.0.0 — CLI surface + Invariant 11.
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"""
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from __future__ import annotations
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import json
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import os
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import subprocess
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import sys
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from collections.abc import Iterator
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from pathlib import Path
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from typing import Any
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from unittest import mock
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import pytest
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import numpy as np
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from gps_denied_onboard.cli import replay as replay_cli
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from gps_denied_onboard.cli.replay import (
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EXIT_GENERIC_FAILURE,
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EXIT_SUCCESS,
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EXIT_SYNC_IMPOSSIBLE,
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ReplayCliError,
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)
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from gps_denied_onboard.config import Config
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from gps_denied_onboard.replay_input import ReplayInputAdapterError
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# ----------------------------------------------------------------------
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# Fixtures
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@pytest.fixture
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def _calib_payload() -> dict[str, Any]:
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return {
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"camera_id": "test-cam",
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"intrinsics_3x3": np.eye(3).tolist(),
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"distortion": [0.0, 0.0, 0.0, 0.0],
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"body_to_camera_se3": np.eye(4).tolist(),
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"acquisition_method": "operator",
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"metadata": {},
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}
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@pytest.fixture
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def _required_files(tmp_path: Path, _calib_payload: dict[str, Any]) -> dict[str, Path]:
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"""Create real on-disk files for every required CLI arg."""
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video = tmp_path / "video.mp4"
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video.write_bytes(b"\x00\x00\x00\x18ftypmp42") # placeholder
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tlog = tmp_path / "flight.tlog"
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tlog.write_bytes(b"\x00")
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output = tmp_path / "out.jsonl"
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calib = tmp_path / "calib.json"
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calib.write_text(json.dumps(_calib_payload))
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config_yaml = tmp_path / "config.yaml"
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config_yaml.write_text("# minimal — env supplies the rest\n")
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signing_key = tmp_path / "key.bin"
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signing_key.write_bytes(b"X" * 32)
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return {
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"video": video,
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"tlog": tlog,
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"output": output,
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"camera_calibration": calib,
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"config": config_yaml,
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"mavlink_signing_key": signing_key,
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}
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@pytest.fixture
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def _airborne_env(monkeypatch: pytest.MonkeyPatch) -> None:
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"""Set the env vars `load_config` needs to validate successfully."""
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for name, value in (
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("GPS_DENIED_FC_PROFILE", "ardupilot_plane"),
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("GPS_DENIED_TIER", "1"),
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("DB_URL", "postgresql+psycopg://gps_denied:dev@db:5432/gps_denied"),
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("CAMERA_CALIBRATION_PATH", "/will/be/overridden/by/cli.json"),
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("LOG_LEVEL", "INFO"),
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("LOG_SINK", "console"),
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("INFERENCE_BACKEND", "pytorch_fp16"),
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("FDR_PATH", "/var/lib/gps-denied/fdr"),
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("TILE_CACHE_PATH", "/var/lib/gps-denied/tiles"),
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):
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monkeypatch.setenv(name, value)
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def _argv(files: dict[str, Path], **overrides: Any) -> list[str]:
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"""Build a CLI argv from the required-files fixture + overrides."""
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base = {
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"--video": str(files["video"]),
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"--tlog": str(files["tlog"]),
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"--output": str(files["output"]),
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"--camera-calibration": str(files["camera_calibration"]),
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"--config": str(files["config"]),
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"--mavlink-signing-key": str(files["mavlink_signing_key"]),
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}
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if "pace" in overrides:
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base["--pace"] = overrides["pace"]
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if "time_offset_ms" in overrides and overrides["time_offset_ms"] is not None:
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base["--time-offset-ms"] = str(overrides["time_offset_ms"])
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argv: list[str] = []
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for k, v in base.items():
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argv.extend([k, v])
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return argv
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# ----------------------------------------------------------------------
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# AC-1: All required args parsed
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def test_ac1_all_required_args_parsed(
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_required_files: dict[str, Path], _airborne_env: None
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) -> None:
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# Arrange
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captured: dict[str, Config] = {}
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def fake_main(config: Config) -> int:
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captured["config"] = config
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return 0
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=fake_main)
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# Assert
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assert rc == EXIT_SUCCESS
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cfg = captured["config"]
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assert cfg.replay.video_path == str(_required_files["video"])
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assert cfg.replay.tlog_path == str(_required_files["tlog"])
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assert cfg.replay.output_path == str(_required_files["output"])
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assert cfg.runtime.camera_calibration_path == str(
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_required_files["camera_calibration"]
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)
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# ----------------------------------------------------------------------
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# AC-2: --pace default ASAP
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def test_ac2_pace_default_asap(
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_required_files: dict[str, Path], _airborne_env: None
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) -> None:
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# Arrange
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captured: dict[str, Config] = {}
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def fake_main(config: Config) -> int:
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captured["config"] = config
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return 0
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=fake_main)
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# Assert
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assert rc == EXIT_SUCCESS
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assert captured["config"].replay.pace == "asap"
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# ----------------------------------------------------------------------
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# AC-3: --pace realtime
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def test_ac3_pace_realtime(
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_required_files: dict[str, Path], _airborne_env: None
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) -> None:
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# Arrange
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captured: dict[str, Config] = {}
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def fake_main(config: Config) -> int:
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captured["config"] = config
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return 0
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# Act
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rc = replay_cli.main(
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_argv(_required_files, pace="realtime"), shared_main=fake_main
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)
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# Assert
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assert rc == EXIT_SUCCESS
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assert captured["config"].replay.pace == "realtime"
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# ----------------------------------------------------------------------
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# AC-4: --time-offset-ms forwarded (None when absent)
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def test_ac4_time_offset_forwarded(
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_required_files: dict[str, Path], _airborne_env: None
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) -> None:
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# Arrange
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captured: dict[str, Config] = {}
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def fake_main(config: Config) -> int:
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captured["config"] = config
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return 0
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# Act
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rc = replay_cli.main(
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_argv(_required_files, time_offset_ms=5000), shared_main=fake_main
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)
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# Assert
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assert rc == EXIT_SUCCESS
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assert captured["config"].replay.time_offset_ms == 5000
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def test_ac4_time_offset_none_when_absent(
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_required_files: dict[str, Path], _airborne_env: None
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) -> None:
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# Arrange
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captured: dict[str, Config] = {}
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def fake_main(config: Config) -> int:
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captured["config"] = config
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return 0
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=fake_main)
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# Assert
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assert rc == EXIT_SUCCESS
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assert captured["config"].replay.time_offset_ms is None
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# ----------------------------------------------------------------------
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# AC-5: --mavlink-signing-key required (argparse exit 2)
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def test_ac5_missing_signing_key_exits_2(
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_required_files: dict[str, Path],
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capsys: pytest.CaptureFixture[str],
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) -> None:
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# Arrange — drop the signing-key arg pair from argv
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argv = _argv(_required_files)
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idx = argv.index("--mavlink-signing-key")
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del argv[idx : idx + 2]
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# Act / Assert — argparse raises SystemExit(2) on missing required
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with pytest.raises(SystemExit) as excinfo:
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replay_cli.main(argv, shared_main=lambda _c: 0)
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assert excinfo.value.code == 2
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err = capsys.readouterr().err
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assert "--mavlink-signing-key" in err
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def test_ac5_missing_video_exits_2(_required_files: dict[str, Path]) -> None:
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# Arrange
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argv = _argv(_required_files)
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idx = argv.index("--video")
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del argv[idx : idx + 2]
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# Act / Assert
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with pytest.raises(SystemExit) as excinfo:
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replay_cli.main(argv, shared_main=lambda _c: 0)
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assert excinfo.value.code == 2
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# ----------------------------------------------------------------------
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# AC-6: Calibration loader rejects malformed JSON
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def test_ac6_malformed_calibration_exits_1(
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_required_files: dict[str, Path],
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_airborne_env: None,
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capsys: pytest.CaptureFixture[str],
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) -> None:
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# Arrange — corrupt the calib.json
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_required_files["camera_calibration"].write_text("{ this is not json")
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=lambda _c: 0)
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# Assert
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assert rc == EXIT_GENERIC_FAILURE
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err = capsys.readouterr().err
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assert "camera-calibration JSON malformed" in err
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# ----------------------------------------------------------------------
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# AC-7: Calibration schema validation
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def test_ac7_missing_intrinsics_key_rejected(
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_required_files: dict[str, Path],
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_airborne_env: None,
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capsys: pytest.CaptureFixture[str],
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) -> None:
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# Arrange — write a calib.json missing the intrinsics key
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_required_files["camera_calibration"].write_text(
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json.dumps(
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{
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"distortion": [0.0, 0.0, 0.0, 0.0],
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"body_to_camera_se3": np.eye(4).tolist(),
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}
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)
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)
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=lambda _c: 0)
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# Assert
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assert rc == EXIT_GENERIC_FAILURE
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err = capsys.readouterr().err
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assert "missing 'intrinsics'" in err
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def test_ac7_top_level_not_object_rejected(
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_required_files: dict[str, Path],
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_airborne_env: None,
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capsys: pytest.CaptureFixture[str],
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) -> None:
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# Arrange — JSON parses but top level is a list
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_required_files["camera_calibration"].write_text(json.dumps([1, 2, 3]))
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=lambda _c: 0)
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# Assert
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assert rc == EXIT_GENERIC_FAILURE
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err = capsys.readouterr().err
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assert "expected JSON object" in err
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# ----------------------------------------------------------------------
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# AC-8: Mode set to replay
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def test_ac8_mode_set_to_replay(
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_required_files: dict[str, Path], _airborne_env: None
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) -> None:
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# Arrange
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captured: dict[str, Config] = {}
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def fake_main(config: Config) -> int:
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captured["config"] = config
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return 0
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=fake_main)
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# Assert
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assert rc == EXIT_SUCCESS
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assert captured["config"].mode == "replay"
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# The CLI MUST NOT call compose_root directly (replay protocol
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# Invariant 11). The shared_main fake here proves the dispatch
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# boundary: if compose_root were called inside the CLI we would
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# not reach the fake at all.
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# ----------------------------------------------------------------------
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# AC-9: Exit-code pass-through
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@pytest.mark.parametrize("rc", [0, 1, 2])
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def test_ac9_exit_code_pass_through(
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_required_files: dict[str, Path],
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_airborne_env: None,
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rc: int,
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) -> None:
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# Arrange
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def fake_main(_config: Config) -> int:
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return rc
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# Act
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actual = replay_cli.main(_argv(_required_files), shared_main=fake_main)
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# Assert
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assert actual == rc
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def test_ac9_replay_input_adapter_error_maps_to_2(
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_required_files: dict[str, Path],
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_airborne_env: None,
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capsys: pytest.CaptureFixture[str],
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) -> None:
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"""A `ReplayInputAdapterError` raised by shared_main → exit 2."""
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# Arrange
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def fake_main(_config: Config) -> int:
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raise ReplayInputAdapterError("auto-sync hard-fail: 42% match")
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=fake_main)
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# Assert
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assert rc == EXIT_SYNC_IMPOSSIBLE
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err = capsys.readouterr().err
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assert "replay sync impossible" in err
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assert "42% match" in err
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def test_unhandled_exception_exits_1_with_traceback(
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_required_files: dict[str, Path],
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_airborne_env: None,
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capsys: pytest.CaptureFixture[str],
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) -> None:
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# Arrange
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def fake_main(_config: Config) -> int:
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raise ValueError("boom: contrived crash inside compose_root")
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=fake_main)
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# Assert
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assert rc == EXIT_GENERIC_FAILURE
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err = capsys.readouterr().err
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assert "Traceback" in err
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assert "boom: contrived crash" in err
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# ----------------------------------------------------------------------
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# Sanitised banner
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def test_signing_key_redacted_in_startup_banner(
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_required_files: dict[str, Path],
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_airborne_env: None,
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capsys: pytest.CaptureFixture[str],
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) -> None:
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# Act
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replay_cli.main(_argv(_required_files), shared_main=lambda _c: 0)
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# Assert
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err = capsys.readouterr().err
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assert "<redacted>" in err
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assert str(_required_files["mavlink_signing_key"]) not in err
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# ----------------------------------------------------------------------
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# AC-10: Console script registered
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def test_ac10_console_script_registered_in_pyproject() -> None:
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"""Static check: pyproject.toml registers the console-script."""
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# Arrange
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repo_root = Path(__file__).resolve().parents[2]
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pyproject = repo_root / "pyproject.toml"
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# Act
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text = pyproject.read_text(encoding="utf-8")
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# Assert
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assert (
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'gps-denied-replay = "gps_denied_onboard.cli.replay:main"' in text
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), "console script not registered under [project.scripts]"
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def test_ac10_console_script_runs_help() -> None:
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"""Subprocess: the `gps-denied-replay` script runs `--help` cleanly.
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Skipped if the package is not installed (or the script is not on
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PATH); the static assertion in the previous test suffices in that
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environment.
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"""
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# Arrange
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import shutil
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binary = shutil.which("gps-denied-replay")
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if binary is None:
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venv_bin = Path(sys.executable).parent / "gps-denied-replay"
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if not venv_bin.exists():
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pytest.skip("gps-denied-replay console script not on PATH or in venv bin")
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binary = str(venv_bin)
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# Act
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result = subprocess.run(
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[binary, "--help"], capture_output=True, text=True, timeout=15
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)
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# Assert
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assert result.returncode == 0, result.stderr
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assert "gps-denied-replay" in result.stdout
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# Required-arg surface check
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for arg in (
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"--video",
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"--tlog",
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"--output",
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"--camera-calibration",
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"--config",
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"--mavlink-signing-key",
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):
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assert arg in result.stdout, f"{arg} missing from --help output"
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# ----------------------------------------------------------------------
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# File validation
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def test_missing_video_file_exits_1(
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_required_files: dict[str, Path],
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_airborne_env: None,
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capsys: pytest.CaptureFixture[str],
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) -> None:
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# Arrange
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_required_files["video"].unlink()
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# Act
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rc = replay_cli.main(_argv(_required_files), shared_main=lambda _c: 0)
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# Assert
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assert rc == EXIT_GENERIC_FAILURE
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err = capsys.readouterr().err
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assert "video" in err
|
|
assert "does not exist" in err
|
|
|
|
|
|
def test_signing_key_path_must_be_file_not_dir(
|
|
_required_files: dict[str, Path],
|
|
tmp_path: Path,
|
|
_airborne_env: None,
|
|
capsys: pytest.CaptureFixture[str],
|
|
) -> None:
|
|
# Arrange — pass a directory where a key file is expected
|
|
fake_dir = tmp_path / "not_a_key_file"
|
|
fake_dir.mkdir()
|
|
argv = _argv(_required_files)
|
|
idx = argv.index("--mavlink-signing-key")
|
|
argv[idx + 1] = str(fake_dir)
|
|
|
|
# Act
|
|
rc = replay_cli.main(argv, shared_main=lambda _c: 0)
|
|
|
|
# Assert
|
|
assert rc == EXIT_GENERIC_FAILURE
|
|
err = capsys.readouterr().err
|
|
assert "is not a file" in err
|
|
|
|
|
|
# ----------------------------------------------------------------------
|
|
# Signing key plumbing
|
|
|
|
|
|
def test_signing_key_propagates_to_dev_static_field(
|
|
_required_files: dict[str, Path], _airborne_env: None
|
|
) -> None:
|
|
# Arrange
|
|
captured: dict[str, Config] = {}
|
|
|
|
def fake_main(config: Config) -> int:
|
|
captured["config"] = config
|
|
return 0
|
|
|
|
# Act
|
|
rc = replay_cli.main(_argv(_required_files), shared_main=fake_main)
|
|
|
|
# Assert
|
|
assert rc == EXIT_SUCCESS
|
|
expected_hex = (b"X" * 32).hex()
|
|
assert captured["config"].fc.dev_static_signing_key == expected_hex
|
|
assert captured["config"].fc.signing_key_source == "dev_static"
|