From 4c1f5d39327a07df1e2d598653f69754c760e5ea Mon Sep 17 00:00:00 2001
From: keita <16924591+keita_sakura@user.noreply.gitee.com>
Date: Wed, 23 Sep 2026 17:53:22 +0800
Subject: [PATCH] =?UTF-8?q?mock=E5=8D=95=E6=B5=8B=E4=B8=8Elibcmavsdk?=
 =?UTF-8?q?=E5=8E=9F=E7=94=9F=E5=BA=93=E8=84=B1=E9=92=A9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

conftest新增fake_mavsdk fixture打桩mavsdk.offboard设定点类型,
两组网关测试autouse启用。修复树莓派原生库符号缺失时纯mock测试误失败
(该问题在树莓派实测暴露: 348条全绿不依赖mavsdk原生库)
---
 utils/conftest.py                             | 40 ++++++++++++++++++-
 utils/tests/pod_bridge/px4_gateway_test.py    |  6 +++
 .../mavsdk_gateway_test.py                    |  6 +++
 3 files changed, 51 insertions(+), 1 deletion(-)

diff --git a/utils/conftest.py b/utils/conftest.py
index e86fb96..91f67a6 100644
--- a/utils/conftest.py
+++ b/utils/conftest.py
@@ -1,8 +1,46 @@
-"""pytest 根配置：保证无论从哪个工作目录启动 pytest，均可导入 utils/ 下的两个包。"""
+"""pytest 根配置：保证无论从哪个工作目录启动 pytest，均可导入 utils/ 下的包；
+并提供 fake_mavsdk fixture，使网关 mock 单测与真实 libcmavsdk.so 脱钩。"""
 
 import sys
+import types
 from pathlib import Path
 
+import pytest
+
 _UTILS_DIR = Path(__file__).resolve().parent
 if str(_UTILS_DIR) not in sys.path:
     sys.path.insert(0, str(_UTILS_DIR))
+
+
+@pytest.fixture
+def fake_mavsdk(monkeypatch):
+    """打桩 mavsdk.offboard 设定点类型(VelocityBodyYawspeed / VelocityNedYaw)。
+
+    MavsdkCommandGateway 构造设定点时惰性 `from mavsdk import offboard`——即便
+    offboard 传输层是 mock,也会去加载真实原生库。libcmavsdk.so 损坏或未装的
+    机器(如 libstdc++ 缺新符号的树莓派)上,纯 mock 单测会因此误失败。
+    用法与 fake_serial 打桩 pyserial 同理:sys.modules 注入轻量桩模块。
+    """
+    offboard_mod = types.ModuleType("mavsdk.offboard")
+
+    class VelocityBodyYawspeed:
+        def __init__(self, forward_m_s, right_m_s, down_m_s, yawspeed_deg_s):
+            self.forward_m_s = forward_m_s
+            self.right_m_s = right_m_s
+            self.down_m_s = down_m_s
+            self.yawspeed_deg_s = yawspeed_deg_s
+
+    class VelocityNedYaw:
+        def __init__(self, north_m_s, east_m_s, down_m_s, yaw_deg):
+            self.north_m_s = north_m_s
+            self.east_m_s = east_m_s
+            self.down_m_s = down_m_s
+            self.yaw_deg = yaw_deg
+
+    offboard_mod.VelocityBodyYawspeed = VelocityBodyYawspeed
+    offboard_mod.VelocityNedYaw = VelocityNedYaw
+    mavsdk_mod = types.ModuleType("mavsdk")
+    mavsdk_mod.offboard = offboard_mod
+    monkeypatch.setitem(sys.modules, "mavsdk", mavsdk_mod)
+    monkeypatch.setitem(sys.modules, "mavsdk.offboard", offboard_mod)
+    return offboard_mod
diff --git a/utils/tests/pod_bridge/px4_gateway_test.py b/utils/tests/pod_bridge/px4_gateway_test.py
index 8e93717..20c7c1f 100644
--- a/utils/tests/pod_bridge/px4_gateway_test.py
+++ b/utils/tests/pod_bridge/px4_gateway_test.py
@@ -13,6 +13,12 @@ import pytest
 from pod_bridge.px4_gateway import OwnState, Px4Gateway, _enum_int
 
 
+@pytest.fixture(autouse=True)
+def _stub_mavsdk(fake_mavsdk):
+    """本模块全部用例与真实 libcmavsdk.so 脱钩(树莓派原生库符号缺失实测)。"""
+    return fake_mavsdk
+
+
 class FakeOffboard:
     def __init__(self):
         self.body = []
diff --git a/utils/tests/visual_track_control/mavsdk_gateway_test.py b/utils/tests/visual_track_control/mavsdk_gateway_test.py
index 1221f4b..7b07c46 100644
--- a/utils/tests/visual_track_control/mavsdk_gateway_test.py
+++ b/utils/tests/visual_track_control/mavsdk_gateway_test.py
@@ -20,6 +20,12 @@ from visual_track_control.mavsdk_gateway import MavsdkCommandGateway
 from visual_track_control.types import ControlOutput
 
 
+@pytest.fixture(autouse=True)
+def _stub_mavsdk(fake_mavsdk):
+    """本模块全部用例与真实 libcmavsdk.so 脱钩(树莓派原生库符号缺失实测)。"""
+    return fake_mavsdk
+
+
 class FakeOffboard:
     """捕获式 offboard mock：记录每次调用的设定点，可注入失败。"""