实现预定流程全链路: 任务状态机 + 编排器 + 地面站 + 真机/SITL入口

- utils/task_runner: 6态状态机(WAIT→ARM_TAKEOFF→GOTO(L2)→TRACK(L1)→APPROACH→RTL) + 编排器(快照采集/状态动作) + 双层日志(事件JSONL/遥测CSV) + 吊舱控制指令(0x07/0x0F/0x0E/0x08) - pod_bridge: ground_link 地面坐标UDP注入(超龄判无效,无激光替代表4); set_heading_servo_enabled() 运行时L1/L2切换(切换即reset清积分防输出跳变); pod_locked 提为公共门控; config 新增 ground_inject 段 - virtual_pod 模拟吊舱(无电机语义) + verify_px4 增量④仅飞控验证 + pod_sitl_test L1 SITL全流程(飞行编排不塞进 run_bridge, 保持纯offboard闭环入口) - 入口: task_runner_sitl(VirtualPod+虚拟目标, SITL端到端跑通约1m24s) / task_runner_real(真串口+UDP注入+吊舱控制) - 地面站 ground_station: 坐标注入 + 状态可视化(Flask) - S1标定回填(2026-10-09): beta_sign=+1 / alpha_sign=-1, 加标定回归测试守护 - 新增测试: task_runner x4 + ground_link/virtual_pod*/bridge/px4_gateway 增量; 全量 483 passed - 文档: 预定流程(需求) + 预定流程-操作指南(操作/待办) + L1方案补S1结论与实现状态
2026-10-13 15:50:32 +08:00
parent 5a944af4f5
commit ded17d7995
30 changed files with 3552 additions and 27 deletions
@@ -0,0 +1,123 @@
+"""log_test.py —— 任务日志模块单元测试。
+
+覆盖：open 建目录/写表头、事件 JSONL、遥测 CSV、telemetry_every_n 节流、
+disabled 时零副作用、close 收尾。
+"""
+
+import csv
+import json
+
+import pytest
+
+from task_runner.log import TaskLogConfig, TaskLogger, TelemetryRecord
+
+
+def _cfg(tmp_path, **kw):
+    c = TaskLogConfig(dir=str(tmp_path), **kw)
+    return c
+
+
+def test_open_creates_dir_and_csv_header(tmp_path):
+    logger = TaskLogger(_cfg(tmp_path))
+    logger.open()
+    logger.close()
+
+    assert (tmp_path / "task_events.jsonl").exists()
+    assert (tmp_path / "task_telemetry.csv").exists()
+
+    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
+        header = next(csv.reader(f))
+    assert header[0] == "t_s"
+    assert "state" in header
+    assert "distance_to_target_m" in header
+
+
+def test_log_event_writes_jsonl(tmp_path):
+    logger = TaskLogger(_cfg(tmp_path))
+    logger.open()
+    logger.log_event(1000, "state", from_state="wait",
+                     to_state="arm_takeoff", reason="收到地面坐标")
+    logger.log_event(2000, "emergency", reason="RC 接管")
+    logger.close()
+
+    with open(tmp_path / "task_events.jsonl", encoding="utf-8") as f:
+        lines = [json.loads(x) for x in f if x.strip()]
+    assert len(lines) == 2
+    assert lines[0]["type"] == "state"
+    assert lines[0]["from_state"] == "wait"
+    assert lines[0]["to_state"] == "arm_takeoff"
+    assert lines[0]["ts_ms"] == 1000
+    assert lines[0]["t_s"] == 0.0          # 首个事件 t_s = 0
+    assert lines[1]["t_s"] == 1.0          # 第二个事件 t_s = 1.0s
+
+
+def test_log_telemetry_writes_csv_rows(tmp_path):
+    logger = TaskLogger(_cfg(tmp_path))
+    logger.open()
+    rec = TelemetryRecord(state="goto", pos_valid=True, latitude_deg=47.39,
+                          distance_to_target_m=33.5, mode="VELOCITY_HEADING",
+                          yaw_rate_dps=-30.0, vx_body_mps=1.7)
+    logger.log_telemetry(1000, rec)
+    logger.log_telemetry(1100, rec)
+    logger.close()
+
+    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
+        rows = list(csv.DictReader(f))
+    assert len(rows) == 2
+    assert rows[0]["state"] == "goto"
+    assert rows[0]["pos_valid"] == "True"
+    assert rows[0]["distance_to_target_m"] == "33.5"
+    assert rows[0]["t_s"] == "0.0"
+    assert rows[1]["t_s"] == "0.1"
+
+
+def test_telemetry_throttled_by_every_n(tmp_path):
+    logger = TaskLogger(_cfg(tmp_path, telemetry_every_n=5))
+    logger.open()
+    rec = TelemetryRecord(state="goto")
+    for i in range(12):
+        logger.log_telemetry(1000 + i * 100, rec)
+    logger.close()
+
+    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
+        rows = list(csv.DictReader(f))
+    assert len(rows) == 2  # 第 5、10 次各记一次
+
+
+def test_disabled_logs_nothing(tmp_path):
+    logger = TaskLogger(_cfg(tmp_path, enabled=False))
+    logger.open()
+    logger.log_event(1000, "state", from_state="wait", to_state="arm_takeoff")
+    logger.log_telemetry(1000, TelemetryRecord(state="goto"))
+    logger.close()
+
+    # 未 open（disabled）→ 不建目录、不写文件
+    assert not (tmp_path / "task_events.jsonl").exists()
+    assert not (tmp_path / "task_telemetry.csv").exists()
+
+
+def test_log_before_open_is_noop(tmp_path):
+    logger = TaskLogger(_cfg(tmp_path))
+    logger.log_event(1000, "state", from_state="wait", to_state="arm_takeoff")
+    logger.log_telemetry(1000, TelemetryRecord(state="goto"))
+    logger.close()
+    assert not (tmp_path / "task_events.jsonl").exists()
+
+
+def test_append_keeps_existing_rows(tmp_path):
+    """重复 open（追加模式）不清空既有内容，表头不重复写。"""
+    logger = TaskLogger(_cfg(tmp_path))
+    logger.open()
+    logger.log_telemetry(1000, TelemetryRecord(state="wait"))
+    logger.close()
+
+    logger2 = TaskLogger(_cfg(tmp_path))
+    logger2.open()
+    logger2.log_telemetry(2000, TelemetryRecord(state="goto"))
+    logger2.close()
+
+    with open(tmp_path / "task_telemetry.csv", encoding="utf-8") as f:
+        rows = list(csv.DictReader(f))
+    assert len(rows) == 2
+    assert rows[0]["state"] == "wait"
+    assert rows[1]["state"] == "goto"