mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 10:36:37 +00:00
Denys Zaitsev
115 lines
4.6 KiB
Python
115 lines
4.6 KiB
Python
import pytest
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pytest.skip("Obsolete test file replaced by test_f02_2_flight_processing_engine", allow_module_level=True)
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import numpy as np
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import asyncio
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from unittest.mock import Mock, MagicMock
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from queue import Empty
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from f02_flight_processing_engine import FlightProcessingEngine
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@pytest.fixture
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def mock_deps():
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return {
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"vo": Mock(),
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"graph": Mock(),
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"cvgl": Mock(),
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"publisher": MagicMock(),
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"failure_coord": Mock(),
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"result_mgr": Mock(),
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"camera_params": Mock()
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}
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@pytest.fixture
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def engine(mock_deps):
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eng = FlightProcessingEngine(
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vo_frontend=mock_deps["vo"],
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factor_graph=mock_deps["graph"],
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cvgl_backend=mock_deps["cvgl"],
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async_pose_publisher=mock_deps["publisher"],
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event_loop=Mock(spec=asyncio.AbstractEventLoop),
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failure_coordinator=mock_deps["failure_coord"],
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result_manager=mock_deps["result_mgr"],
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camera_params=mock_deps["camera_params"]
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)
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eng.active_flight_id = "test_flight_1"
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# Mock the optimizer results
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eng.optimizer.optimize_chunk.return_value = (True, {1: np.eye(4), 2: np.eye(4)})
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return eng
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class TestFlightProcessingEngine:
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def test_first_frame_initializes_chunk(self, engine, mock_deps):
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"""Verifies that the very first frame creates the origin subgraph."""
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dummy_img = np.zeros((100, 100, 3), dtype=np.uint8)
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engine._process_single_frame(1, dummy_img)
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assert engine.last_frame_id == 1
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mock_deps["graph"].create_chunk_subgraph.assert_called_once_with("chunk_0", 1)
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# CVGL anchoring should be attempted on the very first frame
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mock_deps["cvgl"].retrieve_and_match.assert_called_once()
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def test_successful_tracking_adds_relative_factor(self, engine, mock_deps):
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"""Verifies normal VO tracking updates the pose graph."""
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# Initialize frame 1
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engine.last_frame_id = 1
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engine.last_image = np.zeros((10, 10))
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engine.optimizer.chunks = {"chunk_0": Mock()}
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# Mock successful VO for frame 2
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mock_pose = Mock()
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mock_pose.tracking_good = True
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mock_pose.rotation = np.eye(3)
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mock_pose.translation = np.array([1, 0, 0])
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mock_deps["vo"].compute_relative_pose.return_value = mock_pose
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dummy_img = np.zeros((100, 100, 3), dtype=np.uint8)
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engine._process_single_frame(2, dummy_img)
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# Ensure graph factor was added
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mock_deps["graph"].add_relative_factor_to_chunk.assert_called_once()
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# Ensure result was published
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assert mock_deps["publisher"].call_count > 0
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def test_tracking_loss_triggers_new_chunk(self, engine, mock_deps):
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"""Verifies AC-4 (sharp turn / tracking loss) initiates a multi-map fragment."""
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engine.last_frame_id = 1
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engine.last_image = np.zeros((10, 10))
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# Mock failed VO (e.g., sharp turn with <5% overlap)
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mock_deps["vo"].compute_relative_pose.return_value = None
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# Mock failure coordinator creating a new chunk
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mock_chunk = Mock()
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mock_chunk.chunk_id = "chunk_1"
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mock_deps["failure_coord"].create_chunk_on_tracking_loss.return_value = mock_chunk
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dummy_img = np.zeros((100, 100, 3), dtype=np.uint8)
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engine._process_single_frame(2, dummy_img)
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assert engine.current_chunk_id == "chunk_1"
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assert "chunk_1" in engine.unanchored_chunks
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# Ensure graph creates a new disconnected subgraph for chunk_1
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mock_deps["graph"].create_chunk_subgraph.assert_called_with("chunk_1", 2)
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def test_cvgl_anchoring_updates_trajectory(self, engine, mock_deps):
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"""Verifies periodic CVGL anchoring triggers metric pose refinements (AC-8)."""
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engine.satellite_index = "mock_index"
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# Mock successful CVGL match
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mock_deps["cvgl"].retrieve_and_match.return_value = (True, np.eye(3), {'lat': 48.0, 'lon': 37.0})
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dummy_img = np.zeros((100, 100, 3), dtype=np.uint8)
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engine._attempt_global_anchoring(15, dummy_img)
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# Ensure the anchor is added as a hard constraint to the graph
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mock_deps["graph"].add_chunk_anchor.assert_called_once()
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# Extract the args passed to add_chunk_anchor
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args, _ = mock_deps["graph"].add_chunk_anchor.call_args
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assert args[0] == "chunk_0"
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assert args[1] == 15
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assert np.array_equal(args[2], np.array([48.0, 37.0, 400.0]))
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# Ensure refined poses are published
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assert mock_deps["publisher"].call_count > 0 |