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
@@ -0,0 +1,96 @@
+"""StereoYoloConfig 校验与 JSON 加载测试（需求说明 §4：配置外置、fail-fast）。"""
+
+import json
+from pathlib import Path
+
+import pytest
+
+from stereo_yolo import StereoYoloConfig, load_from_json
+
+CONFIG_PATH = Path(__file__).resolve().parents[2] / "config" / "stereo_yolo.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_yolo.json"
+    path.write_text(json.dumps(data, ensure_ascii=False), encoding="utf-8")
+    return str(path)
+
+
+def test_load_from_json_matches_defaults():
+    assert load_from_json(str(CONFIG_PATH)) == StereoYoloConfig()
+
+
+def test_whitelist_normalized_to_tuple():
+    cfg = StereoYoloConfig(class_whitelist=[0, 2])
+    assert cfg.class_whitelist == (0, 2)
+
+
+def test_missing_field_rejected(tmp_path):
+    data = _config_dict()
+    data.pop("imgsz")
+    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["letterbox_scale"] = 0.5
+    with pytest.raises(ValueError, match="未知配置字段"):
+        load_from_json(_write(tmp_path, data))
+
+
+@pytest.mark.parametrize(
+    "field,value",
+    [
+        ("model_path", 123),
+        ("imgsz", "640"),
+        ("imgsz", True),
+        ("conf_threshold", "0.25"),
+        ("iou_threshold", None),
+        ("class_whitelist", 0),
+        ("class_whitelist", ["0"]),
+        ("device", 5),
+        ("concurrency", 1),
+    ],
+)
+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",
+    [
+        ("model_path", ""),
+        ("imgsz", 0),
+        ("imgsz", 600),
+        ("conf_threshold", -0.1),
+        ("conf_threshold", 1.5),
+        ("iou_threshold", 0.0),
+        ("class_whitelist", []),
+        ("class_whitelist", [-1]),
+        ("device", "  "),
+        ("concurrency", "batch"),
+    ],
+)
+def test_invalid_values_rejected(field, value):
+    with pytest.raises(ValueError, match="配置非法"):
+        StereoYoloConfig(**{field: value})
+
+
+def test_boundary_values_accepted():
+    cfg = StereoYoloConfig(
+        imgsz=32,
+        conf_threshold=0.0,
+        iou_threshold=1.0,
+        class_whitelist=(0,),
+        device="cpu",
+        concurrency="sequential",
+    )
+    assert cfg.imgsz == 32