mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 21:56:38 +00:00
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>
128 lines
4.6 KiB
Python
128 lines
4.6 KiB
Python
"""Tests for FlightProcessor full processing pipeline (Stage 10)."""
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from unittest.mock import AsyncMock, MagicMock
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import numpy as np
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import pytest
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from gps_denied.core.chunk_manager import RouteChunkManager
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from gps_denied.core.gpr import GlobalPlaceRecognition
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from gps_denied.core.graph import FactorGraphOptimizer
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from gps_denied.core.metric import MetricRefinement
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from gps_denied.core.models import ModelManager
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from gps_denied.core.processor import FlightProcessor, TrackingState
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from gps_denied.core.recovery import FailureRecoveryCoordinator
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from gps_denied.core.vo import SequentialVisualOdometry
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from gps_denied.schemas.graph import FactorGraphConfig
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@pytest.fixture
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def processor():
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repo = MagicMock()
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streamer = MagicMock()
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streamer.push_event = AsyncMock()
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proc = FlightProcessor(repo, streamer)
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mm = ModelManager()
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vo = SequentialVisualOdometry(mm)
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gpr = GlobalPlaceRecognition(mm)
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gpr.load_index("test", "dummy")
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metric = MetricRefinement(mm)
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graph = FactorGraphOptimizer(FactorGraphConfig())
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chunk_mgr = RouteChunkManager(graph)
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recovery = FailureRecoveryCoordinator(chunk_mgr, gpr, metric)
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proc.attach_components(
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vo=vo, gpr=gpr, metric=metric,
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graph=graph, recovery=recovery, chunk_mgr=chunk_mgr
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)
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return proc
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@pytest.mark.asyncio
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async def test_process_first_frame(processor):
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"""First frame has no previous image → VO skips, should still publish."""
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img = np.random.randint(0, 255, (200, 200, 3), dtype=np.uint8)
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result = await processor.process_frame("fl1", 0, img)
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assert result.frame_id == 0
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assert result.tracking_state == TrackingState.NORMAL
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# First frame — no previous so VO is skipped
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assert result.vo_success is False
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# SSE event published
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processor.streamer.push_event.assert_called_once()
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@pytest.mark.asyncio
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async def test_process_consecutive_frames_normal(processor):
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"""Two consecutive frames → VO attempts (mock may or may not succeed)."""
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flight = "fl2"
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img1 = np.random.randint(0, 255, (200, 200, 3), dtype=np.uint8)
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img2 = np.random.randint(0, 255, (200, 200, 3), dtype=np.uint8)
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r1 = await processor.process_frame(flight, 0, img1)
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r2 = await processor.process_frame(flight, 1, img2)
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assert r1.frame_id == 0
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assert r2.frame_id == 1
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# At minimum, both published SSE
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assert processor.streamer.push_event.call_count == 2
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@pytest.mark.asyncio
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async def test_tracking_loss_triggers_recovery(processor, monkeypatch):
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"""When VO returns tracking_good=False, state transitions to RECOVERY."""
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flight = "fl3"
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img0 = np.random.randint(0, 255, (200, 200, 3), dtype=np.uint8)
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img1 = np.random.randint(0, 255, (200, 200, 3), dtype=np.uint8)
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# Process frame 0 — will be NORMAL
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await processor.process_frame(flight, 0, img0)
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# Force VO to fail by monkeypatching
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def bad_vo(*args, **kwargs):
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from gps_denied.schemas.vo import RelativePose
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return RelativePose(
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translation=np.zeros(3), rotation=np.eye(3), covariance=np.eye(6),
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confidence=0.0, inlier_count=0, total_matches=0, tracking_good=False
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)
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monkeypatch.setattr(processor._vo, "compute_relative_pose", bad_vo)
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# Also force recovery NOT to succeed so state stays RECOVERY
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monkeypatch.setattr(processor._recovery, "process_chunk_recovery", lambda *a, **k: False)
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r1 = await processor.process_frame(flight, 1, img1)
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# State should be RECOVERY (LOST transitioning immediately)
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assert r1.tracking_state == TrackingState.RECOVERY
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@pytest.mark.asyncio
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async def test_state_machine_full_cycle(processor, monkeypatch):
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"""Full cycle: NORMAL → LOST → RECOVERY → NORMAL."""
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flight = "fl_cycle"
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imgs = [np.random.randint(0, 255, (200, 200, 3), dtype=np.uint8) for _ in range(3)]
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# Frame 0: NORMAL
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r0 = await processor.process_frame(flight, 0, imgs[0])
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assert r0.tracking_state == TrackingState.NORMAL
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# Frame 1: Force VO fail → RECOVERY
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def bad_vo(*a, **k):
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from gps_denied.schemas.vo import RelativePose
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return RelativePose(
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translation=np.zeros(3), rotation=np.eye(3), covariance=np.eye(6),
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confidence=0, inlier_count=0, total_matches=0, tracking_good=False
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)
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monkeypatch.setattr(processor._vo, "compute_relative_pose", bad_vo)
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# Also force recovery to succeed
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monkeypatch.setattr(processor._recovery, "process_chunk_recovery", lambda *a, **k: True)
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r1 = await processor.process_frame(flight, 1, imgs[1])
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# Should have recovered back to NORMAL
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assert r1.tracking_state == TrackingState.NORMAL
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assert r1.alignment_success is True
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