精简仓库结构并增强任务链路：归档双目可选后端、新增LOS判据与自定义返航

归档 legacy/：stereo_yolo/stereo_ranger/target_tracker 三包 + 175 条测试 + demo/配置/权重/三份规格；运行链路不再依赖，默认 pytest 446 条，归档测试按需运行。目标有效性第二判据改为 LOS 运动学一致性（pod_bridge/los_consistency.py），删除 require_vision；pod_locked() 叠加该判据，状态机随之后退重搜。自定义返航（task_runner/return_home.py）：保持转场高度回起飞点 → 恢复初始航向 → 垂直降落，不再爬 RTL_RETURN_ALT；未起飞/无起飞点/超时/异常仍退回 PX4 原生 RTL。任务链安全兜底：主循环异常→紧急返航、stop 幂等、landing_stop 保留遥测、in_air 流复用+超时、解锁/起飞与吊舱识别仅执行一次、rtl_timeout 上限。入口共享件拆到 utils/sitl_support.py；pod_sitl_test.py→l1_sitl_test.py；删除旧架构 test.py；相机脚本移入 tools/。新增 .gitignore 并剔除历史误跟踪的 59 个 .pyc；requirements 按实际依赖重写；文档全面对齐，新增 legacy/README.md 与 tools/README.md。
2026-10-21 14:48:41 +08:00
parent 53fdd3b13f
commit df91b1110e
159 changed files with 6121 additions and 1617 deletions
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+"""StereoConfig 校验与 JSON 加载测试（规格 §9：配置外置、fail-fast）。"""
+
+import json
+from pathlib import Path
+
+import pytest
+
+from stereo_ranger import StereoConfig, load_from_json
+
+CONFIG_PATH = Path(__file__).resolve().parents[2] / "config" / "stereo_ranger.json"
+
+
+def _config_dict() -> dict:
+    return json.loads(CONFIG_PATH.read_text(encoding="utf-8"))
+
+
+def _write(tmp_path: Path, data: dict) -> str:
+    path = tmp_path / "stereo.json"
+    path.write_text(json.dumps(data, ensure_ascii=False), encoding="utf-8")
+    return str(path)
+
+
+def test_defaults_are_valid_and_domains_are_consistent():
+    cfg = StereoConfig()
+    assert cfg.focal_baseline_px_m == pytest.approx(cfg.fx_px * cfg.baseline_m)
+    assert cfg.z_min_m == pytest.approx(cfg.focal_baseline_px_m / cfg.disparity_max_px)
+    assert cfg.z_max_m == pytest.approx(cfg.focal_baseline_px_m / cfg.disparity_min_px)
+    assert cfg.z_error_budget_max_m == pytest.approx((cfg.max_delta_z_m * cfg.focal_baseline_px_m) ** 0.5)
+
+
+def test_load_from_json_matches_defaults():
+    assert load_from_json(str(CONFIG_PATH)) == StereoConfig()
+
+
+def test_missing_field_rejected(tmp_path):
+    data = _config_dict()
+    data.pop("baseline_m")
+    with pytest.raises(ValueError, match="缺少配置字段"):
+        load_from_json(_write(tmp_path, data))
+
+
+def test_unknown_field_rejected(tmp_path):
+    data = _config_dict()
+    data["radar_fallback"] = True
+    with pytest.raises(ValueError, match="未知配置字段"):
+        load_from_json(_write(tmp_path, data))
+
+
+@pytest.mark.parametrize(
+    "field,value",
+    [
+        ("fx_px", "960"),
+        ("consistency_N_frames", 3.5),
+        ("smooth_alpha", True),
+    ],
+)
+def test_type_error_rejected(tmp_path, field, value):
+    data = _config_dict()
+    data[field] = value
+    with pytest.raises(ValueError, match="配置类型非法"):
+        load_from_json(_write(tmp_path, data))
+
+
+@pytest.mark.parametrize(
+    "field,value",
+    [
+        ("fx_px", 0.0),
+        ("fy_px", -1.0),
+        ("cx_px", -0.5),
+        ("cy_px", -0.5),
+        ("baseline_m", 0.0),
+        ("tau_y_px", 0.0),
+        ("tau_h_ratio", 0.0),
+        ("disparity_min_px", 0.0),
+        ("disparity_min_px", 60.0),
+        ("max_delta_z_m", 0.0),
+        ("consistency_N_frames", 0),
+        ("consistency_M_frames", 2),
+        ("consistency_jump_px", 0.0),
+        ("smooth_alpha", 0.0),
+        ("smooth_alpha", 1.5),
+        ("jump_reset_m", 0.0),
+        ("filter_reset_frames", 0),
+        ("isolation_gate_px", 0.0),
+    ],
+)
+def test_invalid_values_rejected(field, value):
+    with pytest.raises(ValueError, match="配置非法"):
+        StereoConfig(**{field: value})
+
+
+def test_boundary_values_accepted():
+    cfg = StereoConfig(disparity_min_px=3.0, disparity_max_px=3.0 + 1e-9, smooth_alpha=1.0, consistency_M_frames=3)
+    assert cfg.z_max_m > cfg.z_min_m