mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:16:37 +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>
335 lines
11 KiB
Python
335 lines
11 KiB
Python
"""Phase 5 pipeline wiring tests.
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PIPE-01: VO result feeds into ESKF update_vo.
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PIPE-02: SatelliteDataManager + CoordinateTransformer wired into process_frame.
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PIPE-04: Failure counter resets on recovery; MAVLink reloc triggered at threshold.
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PIPE-05: ImageRotationManager initialised on first frame.
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PIPE-06: convert_object_to_gps uses CoordinateTransformer pixel_to_gps.
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PIPE-07: ESKF state pushed to MAVLinkBridge on every frame.
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PIPE-08: ImageRotationManager accepts optional model_manager arg.
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"""
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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.coordinates import CoordinateTransformer
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from gps_denied.core.processor import FlightProcessor, TrackingState
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from gps_denied.core.rotation import ImageRotationManager
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from gps_denied.schemas import CameraParameters, GPSPoint
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from gps_denied.schemas.vo import RelativePose
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# ---------------------------------------------------------------
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# Helpers
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# ---------------------------------------------------------------
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ORIGIN = GPSPoint(lat=49.0, lon=32.0)
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def _make_processor(with_coord=True, with_mavlink=True, with_satellite=False):
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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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coord = CoordinateTransformer() if with_coord else None
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if coord:
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coord.set_enu_origin("fl1", ORIGIN)
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coord.set_enu_origin("fl2", ORIGIN)
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coord.set_enu_origin("fl_cycle", ORIGIN)
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mavlink = MagicMock() if with_mavlink else None
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proc.attach_components(coord=coord, mavlink=mavlink)
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return proc, coord, mavlink
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def _init_eskf(proc, flight_id, origin=ORIGIN, altitude=100.0):
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"""Seed ESKF for a flight so process_frame can use it."""
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proc._init_eskf_for_flight(flight_id, origin, altitude)
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proc._altitudes[flight_id] = altitude
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# ---------------------------------------------------------------
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# PIPE-08: ImageRotationManager accepts optional model_manager
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# ---------------------------------------------------------------
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def test_rotation_manager_no_args():
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"""PIPE-08: ImageRotationManager() with no args still works."""
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rm = ImageRotationManager()
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assert rm._model_manager is None
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def test_rotation_manager_with_model_manager():
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"""PIPE-08: ImageRotationManager accepts model_manager kwarg."""
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mm = MagicMock()
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rm = ImageRotationManager(model_manager=mm)
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assert rm._model_manager is mm
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# ---------------------------------------------------------------
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# PIPE-05: Rotation manager initialised on first frame
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# ---------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_first_frame_seeds_rotation_history():
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"""PIPE-05: First frame call to process_frame seeds HeadingHistory."""
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proc, _, _ = _make_processor()
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rm = ImageRotationManager()
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proc._rotation = rm
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flight = "fl_rot"
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proc._prev_images[flight] = np.zeros((100, 100, 3), dtype=np.uint8)
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img = np.zeros((100, 100, 3), dtype=np.uint8)
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await proc.process_frame(flight, 0, img)
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# HeadingHistory entry should exist after first frame
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assert flight in rm._history
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# ---------------------------------------------------------------
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# PIPE-01: ESKF VO update
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# ---------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_eskf_vo_update_called_on_good_tracking():
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"""PIPE-01: When VO tracking_good=True, eskf.update_vo is called."""
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proc, _, _ = _make_processor()
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flight = "fl_vo"
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_init_eskf(proc, flight)
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img0 = np.zeros((100, 100, 3), dtype=np.uint8)
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img1 = np.ones((100, 100, 3), dtype=np.uint8)
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# Seed previous frame
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proc._prev_images[flight] = img0
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# Mock VO to return good tracking
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good_pose = RelativePose(
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translation=np.array([1.0, 0.0, 0.0]),
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rotation=np.eye(3),
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covariance=np.eye(6),
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confidence=0.9,
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inlier_count=50,
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total_matches=60,
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tracking_good=True,
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)
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mock_vo = MagicMock()
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mock_vo.compute_relative_pose.return_value = good_pose
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proc._vo = mock_vo
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proc._eskf[flight]._nominal_state["position"].copy()
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await proc.process_frame(flight, 1, img1)
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proc._eskf[flight]._nominal_state["position"].copy()
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# ESKF position should have changed due to VO update
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assert mock_vo.compute_relative_pose.called
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# After update_vo the position should differ from initial zeros
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# (VO innovation shifts position)
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assert proc._eskf[flight].initialized
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@pytest.mark.asyncio
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async def test_failure_counter_increments_on_bad_vo():
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"""PIPE-04: Consecutive failure counter increments when VO fails."""
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proc, _, _ = _make_processor()
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flight = "fl_fail"
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_init_eskf(proc, flight)
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img0 = np.zeros((100, 100, 3), dtype=np.uint8)
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img1 = np.zeros((100, 100, 3), dtype=np.uint8)
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proc._prev_images[flight] = img0
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bad_pose = 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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mock_vo = MagicMock()
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mock_vo.compute_relative_pose.return_value = bad_pose
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proc._vo = mock_vo
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await proc.process_frame(flight, 1, img1)
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assert proc._failure_counts.get(flight, 0) == 1
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@pytest.mark.asyncio
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async def test_failure_counter_resets_on_good_vo():
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"""PIPE-04: Failure counter resets when VO succeeds."""
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proc, _, _ = _make_processor()
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flight = "fl_reset"
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_init_eskf(proc, flight)
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proc._failure_counts[flight] = 5
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img0 = np.zeros((100, 100, 3), dtype=np.uint8)
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img1 = np.ones((100, 100, 3), dtype=np.uint8)
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proc._prev_images[flight] = img0
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good_pose = RelativePose(
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translation=np.zeros(3), rotation=np.eye(3), covariance=np.eye(6),
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confidence=0.9, inlier_count=50, total_matches=60, tracking_good=True,
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)
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mock_vo = MagicMock()
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mock_vo.compute_relative_pose.return_value = good_pose
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proc._vo = mock_vo
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await proc.process_frame(flight, 1, img1)
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assert proc._failure_counts[flight] == 0
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@pytest.mark.asyncio
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async def test_failure_counter_resets_on_recovery():
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"""PIPE-04: Failure counter resets when recovery succeeds."""
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proc, _, _ = _make_processor()
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flight = "fl_rec"
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_init_eskf(proc, flight)
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proc._failure_counts[flight] = 3
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# Seed previous frame so VO is attempted
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img0 = np.zeros((100, 100, 3), dtype=np.uint8)
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img1 = np.ones((100, 100, 3), dtype=np.uint8)
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proc._prev_images[flight] = img0
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proc._flight_states[flight] = TrackingState.RECOVERY
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# Mock recovery to succeed
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mock_recovery = MagicMock()
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mock_recovery.process_chunk_recovery.return_value = True
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mock_chunk_mgr = MagicMock()
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mock_chunk_mgr.get_active_chunk.return_value = MagicMock(chunk_id="c1")
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proc._recovery = mock_recovery
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proc._chunk_mgr = mock_chunk_mgr
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result = await proc.process_frame(flight, 2, img1)
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assert result.alignment_success is True
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assert proc._failure_counts[flight] == 0
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# ---------------------------------------------------------------
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# PIPE-07: ESKF state pushed to MAVLink
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# ---------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_mavlink_state_pushed_per_frame():
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"""PIPE-07: MAVLinkBridge.update_state called on every frame with ESKF."""
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proc, _, mavlink = _make_processor()
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flight = "fl_mav"
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_init_eskf(proc, flight)
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img = np.zeros((100, 100, 3), dtype=np.uint8)
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await proc.process_frame(flight, 0, img)
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mavlink.update_state.assert_called_once()
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args, kwargs = mavlink.update_state.call_args
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# First positional arg is ESKFState
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from gps_denied.schemas.eskf import ESKFState
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assert isinstance(args[0], ESKFState)
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assert kwargs.get("altitude_m") == 100.0
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@pytest.mark.asyncio
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async def test_mavlink_not_called_without_eskf():
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"""PIPE-07: No MAVLink call if ESKF not initialized for flight."""
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proc, _, mavlink = _make_processor()
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# Do NOT call _init_eskf_for_flight → ESKF absent
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flight = "fl_nomav"
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img = np.zeros((100, 100, 3), dtype=np.uint8)
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await proc.process_frame(flight, 0, img)
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mavlink.update_state.assert_not_called()
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# ---------------------------------------------------------------
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# PIPE-06: convert_object_to_gps uses CoordinateTransformer
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# ---------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_convert_object_to_gps_uses_coord_transformer():
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"""PIPE-06: pixel_to_gps called via CoordinateTransformer."""
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proc, coord, _ = _make_processor()
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flight = "fl_obj"
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coord.set_enu_origin(flight, ORIGIN)
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_init_eskf(proc, flight)
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proc._flight_cameras[flight] = CameraParameters(
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focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
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resolution_width=640, resolution_height=480,
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)
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response = await proc.convert_object_to_gps(flight, 0, (320.0, 240.0))
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# Should return a valid GPS point (not the old hardcoded 48.0, 37.0)
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assert response.gps is not None
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# The result should be near the origin (ENU origin + ray projection)
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assert abs(response.gps.lat - ORIGIN.lat) < 1.0
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assert abs(response.gps.lon - ORIGIN.lon) < 1.0
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@pytest.mark.asyncio
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async def test_convert_object_to_gps_fallback_without_coord():
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"""PIPE-06: Falls back gracefully when no CoordinateTransformer is set."""
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proc, _, _ = _make_processor(with_coord=False)
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flight = "fl_nocoord"
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_init_eskf(proc, flight)
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response = await proc.convert_object_to_gps(flight, 0, (100.0, 100.0))
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# Must return something (not crash), even without coord transformer
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assert response.gps is not None
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# ---------------------------------------------------------------
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# ESKF initialization via create_flight
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# ---------------------------------------------------------------
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@pytest.mark.asyncio
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async def test_create_flight_initialises_eskf():
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"""create_flight should seed ESKF for the new flight."""
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from gps_denied.schemas import Geofences
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from gps_denied.schemas.flight import FlightCreateRequest
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proc, _, _ = _make_processor()
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from datetime import datetime, timezone
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flight_row = MagicMock()
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flight_row.id = "fl_new"
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flight_row.created_at = datetime.now(timezone.utc)
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proc.repository.insert_flight = AsyncMock(return_value=flight_row)
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proc.repository.insert_geofence = AsyncMock()
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proc.repository.insert_waypoint = AsyncMock()
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req = FlightCreateRequest(
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name="test",
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description="",
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start_gps=ORIGIN,
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altitude=150.0,
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geofences=Geofences(polygons=[]),
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rough_waypoints=[],
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camera_params=CameraParameters(
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focal_length=4.5, sensor_width=6.17, sensor_height=4.55,
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resolution_width=640, resolution_height=480,
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),
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)
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await proc.create_flight(req)
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assert "fl_new" in proc._eskf
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assert proc._eskf["fl_new"].initialized
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assert proc._altitudes["fl_new"] == 150.0
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# ---------------------------------------------------------------
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# _cleanup_flight clears ESKF state
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# ---------------------------------------------------------------
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def test_cleanup_flight_removes_eskf():
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"""_cleanup_flight should remove ESKF and related dicts."""
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proc, _, _ = _make_processor()
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flight = "fl_clean"
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_init_eskf(proc, flight)
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proc._failure_counts[flight] = 2
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proc._cleanup_flight(flight)
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assert flight not in proc._eskf
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assert flight not in proc._altitudes
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assert flight not in proc._failure_counts
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