mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 22:26:38 +00:00
Yuzviak
62 lines
1.9 KiB
Python
62 lines
1.9 KiB
Python
"""Tests for Route Chunk Manager (F12)."""
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import pytest
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import numpy as np
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from gps_denied.core.chunk_manager import RouteChunkManager
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from gps_denied.core.graph import FactorGraphOptimizer
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from gps_denied.schemas.graph import FactorGraphConfig
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from gps_denied.schemas.chunk import ChunkStatus
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from gps_denied.schemas.metric import Sim3Transform
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@pytest.fixture
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def chunk_manager():
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opt = FactorGraphOptimizer(FactorGraphConfig())
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return RouteChunkManager(opt)
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def test_create_and_get_chunk(chunk_manager):
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flight_id = "flight123"
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chunk = chunk_manager.create_new_chunk(flight_id, 0)
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assert chunk.is_active is True
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assert chunk.start_frame_id == 0
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assert chunk.flight_id == flight_id
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active = chunk_manager.get_active_chunk(flight_id)
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assert active.chunk_id == chunk.chunk_id
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def test_add_frame_to_chunk(chunk_manager):
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flight = "fl2"
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chunk_manager.create_new_chunk(flight, 100)
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assert chunk_manager.add_frame_to_chunk(flight, 101) is True
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active = chunk_manager.get_active_chunk(flight)
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assert 101 in active.frames
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assert len(active.frames) == 2
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def test_chunk_merging_logic(chunk_manager):
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flight = "fl3"
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c1 = chunk_manager.create_new_chunk(flight, 0)
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c1_id = c1.chunk_id
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c2 = chunk_manager.create_new_chunk(flight, 50)
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c2_id = c2.chunk_id
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chunk_manager.add_frame_to_chunk(flight, 51)
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# c2 is active now, c1 is inactive
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assert chunk_manager.get_active_chunk(flight).chunk_id == c2_id
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transform = Sim3Transform(translation=np.zeros(3), rotation=np.eye(3), scale=1)
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# merge c2 into c1
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res = chunk_manager.merge_chunks(flight, c2_id, c1_id, transform)
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assert res is True
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# c2 frames moved to c1
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assert 50 in c1.frames
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assert len(c2.frames) == 0
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assert c2.matching_status == ChunkStatus.MERGED
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assert c2.is_active is False
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