新增pod_bridge吊舱桥接中间件(树莓派4B部署)

- pod_bridge: 协议G版编解码/地理位置引导律/PX4网关/串口链路/闭环主循环
- 含三项安全修复: position_time_ms拆分、表2-2锁定门控、run()异常护栏
- 测试92条全绿; 附树莓派4B(Ubuntu 24.04)部署注意事项与最小依赖清单

utils/tests/pod_bridge/config_test.py

@@ -0,0 +1,115 @@
+"""config_test.py —— 桥接配置加载与校验单元测试。"""
+
+import json
+from pathlib import Path
+
+import pytest
+
+from pod_bridge.config import (BridgeConfig, GuidanceConfig, PodSerialConfig,
+                               load_from_json)
+
+_DEFAULT_CONFIG = Path(__file__).resolve().parents[2] / "config" / "pod_bridge.json"
+
+
+def _write(tmp_path, obj) -> str:
+    p = tmp_path / "cfg.json"
+    p.write_text(json.dumps(obj), encoding="utf-8")
+    return str(p)
+
+
+def test_shipped_default_config_loads():
+    cfg = load_from_json(str(_DEFAULT_CONFIG))
+    assert cfg.pod_serial.baudrate == 115200
+    assert cfg.px4.connection_string == "udp://:14540"
+    assert cfg.link.attitude_downlink_hz == pytest.approx(20.0)
+    assert cfg.guidance.max_speed_mps == pytest.approx(5.0)
+    assert cfg.guidance.stop_radius_m == pytest.approx(5.0)
+
+
+def test_empty_json_uses_all_defaults(tmp_path):
+    cfg = load_from_json(_write(tmp_path, {}))
+    default = BridgeConfig()
+    assert cfg.pod_serial == default.pod_serial
+    assert cfg.px4 == default.px4
+    assert cfg.link == default.link
+    assert cfg.guidance == default.guidance
+
+
+def test_partial_override_keeps_other_defaults(tmp_path):
+    cfg = load_from_json(_write(tmp_path, {
+        "pod_serial": {"port": "COM3"},
+        "guidance": {"max_speed_mps": 8.0},
+    }))
+    assert cfg.pod_serial.port == "COM3"
+    assert cfg.pod_serial.baudrate == 115200          # 默认回退
+    assert cfg.guidance.max_speed_mps == 8.0
+    assert cfg.guidance.stop_radius_m == GuidanceConfig().stop_radius_m  # 默认回退
+
+
+def test_full_override_roundtrip(tmp_path):
+    obj = {
+        "pod_serial": {"port": "/dev/ttyUSB0", "baudrate": 115200},
+        "px4": {"connection_string": "serial:///dev/ttyS1:57600"},
+        "link": {"attitude_downlink_hz": 30.0, "telemetry_timeout_ms": 800},
+        "guidance": {"frequency_hz": 20.0, "stop_radius_m": 3.0,
+                     "max_speed_mps": 7.5, "speed_kp": 0.8, "yaw_kp": 1.5},
+    }
+    cfg = load_from_json(_write(tmp_path, obj))
+    assert cfg.px4.connection_string == "serial:///dev/ttyS1:57600"
+    assert cfg.link.attitude_downlink_hz == 30.0
+    assert cfg.link.telemetry_timeout_ms == 800
+    assert cfg.guidance.frequency_hz == 20.0
+    assert cfg.guidance.yaw_kp == 1.5
+
+
+# --- 校验错误 ---------------------------------------------------------------
+def test_missing_file_raises():
+    with pytest.raises(ValueError, match="打开失败"):
+        load_from_json(str(_DEFAULT_CONFIG.parent / "no_such_file.json"))
+
+
+def test_non_object_root_raises(tmp_path):
+    p = tmp_path / "bad.json"
+    p.write_text("[1, 2, 3]", encoding="utf-8")
+    with pytest.raises(ValueError, match="根节点必须为对象"):
+        load_from_json(str(p))
+
+
+def test_malformed_json_raises(tmp_path):
+    p = tmp_path / "bad.json"
+    p.write_text("{not json", encoding="utf-8")
+    with pytest.raises(ValueError, match="解析失败"):
+        load_from_json(str(p))
+
+
+def test_wrong_type_raises_with_field_name(tmp_path):
+    with pytest.raises(ValueError, match="guidance.max_speed_mps"):
+        load_from_json(_write(tmp_path, {"guidance": {"max_speed_mps": "fast"}}))
+
+
+def test_unknown_key_rejected(tmp_path):
+    with pytest.raises(ValueError, match="未知字段"):
+        load_from_json(_write(tmp_path, {"guidance": {"max_speed": 5.0}}))
+
+
+def test_empty_connection_string_raises(tmp_path):
+    with pytest.raises(ValueError, match="px4.connection_string"):
+        load_from_json(_write(tmp_path, {"px4": {"connection_string": ""}}))
+
+
+@pytest.mark.parametrize("obj,field", [
+    ({"link": {"attitude_downlink_hz": 100.0}}, "link.attitude_downlink_hz"),  # >60
+    ({"link": {"attitude_downlink_hz": 0.5}}, "link.attitude_downlink_hz"),    # <1
+    ({"guidance": {"max_speed_mps": -1.0}}, "guidance.max_speed_mps"),         # 非正
+    ({"guidance": {"stop_radius_m": -2.0}}, "guidance.stop_radius_m"),         # 负
+    ({"guidance": {"speed_derivative_filter_coef": 1.0}},                      # 上界开
+     "guidance.speed_derivative_filter_coef"),
+    ({"pod_serial": {"baudrate": 0}}, "pod_serial.baudrate"),                  # 非正
+])
+def test_out_of_range_raises(tmp_path, obj, field):
+    with pytest.raises(ValueError, match=field.replace(".", r"\.")):
+        load_from_json(_write(tmp_path, obj))
+
+
+def test_pod_serial_default_port_is_placeholder():
+    assert PodSerialConfig().port == ""