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
@@ -1,12 +1,14 @@
-"""ground_link_test.py —— 地面坐标注入通道单元测试。
+"""ground_link_test.py —— 地面站链路单元测试。

 覆盖：parse_payload 解析（合法/缺字段/非法 JSON/非对象/类型错误）、
-is_valid 新鲜度判定（未注入/新鲜/超龄边界）。
+parse_message 双通道（坐标 + {"cmd"} 命令）、命令队列 drain、
+is_valid 新鲜度判定（未注入/新鲜/超龄边界）、run() 真 UDP 回环。
 """

 import pytest

-from pod_bridge.ground_link import GroundInjectConfig, GroundLink, GroundTarget
+from pod_bridge.ground_link import (GroundCommand, GroundInjectConfig,
+                                    GroundLink, GroundTarget)


 # --- parse_payload ----------------------------------------------------------
@@ -92,3 +94,108 @@ def test_latest_returns_injected_target():
    _inject(link, 1000)
    assert link.latest().latitude_deg == pytest.approx(1.0)
    assert link.latest().time_ms == 1000
+
+
+# --- parse_message（坐标 + 命令双通道）---------------------------------------
+def test_parse_message_command():
+    m = GroundLink.parse_message(b'{"cmd": "rtl"}')
+    assert isinstance(m, GroundCommand)
+    assert m.name == "rtl"
+
+
+def test_parse_message_command_normalized():
+    m = GroundLink.parse_message(b'{"cmd": " RTL "}')
+    assert isinstance(m, GroundCommand)
+    assert m.name == "rtl"
+
+
+def test_parse_message_cmd_takes_precedence_over_coords():
+    m = GroundLink.parse_message(b'{"cmd": "emergency", "lat": 1.0, "lon": 2.0}')
+    assert isinstance(m, GroundCommand)
+    assert m.name == "emergency"
+
+
+def test_parse_message_coords_still_work():
+    m = GroundLink.parse_message(b'{"lat": 1.0, "lon": 2.0}')
+    assert isinstance(m, GroundTarget)
+    assert m.latitude_deg == pytest.approx(1.0)
+
+
+def test_parse_message_empty_cmd_falls_back_to_coords():
+    m = GroundLink.parse_message(b'{"cmd": "", "lat": 1.0, "lon": 2.0}')
+    assert isinstance(m, GroundTarget)
+
+
+def test_parse_message_non_string_cmd_falls_back_to_coords():
+    m = GroundLink.parse_message(b'{"cmd": 5, "lat": 1.0, "lon": 2.0}')
+    assert isinstance(m, GroundTarget)
+
+
+def test_parse_message_invalid_returns_none():
+    assert GroundLink.parse_message(b"not json") is None
+
+
+# --- drain_commands ---------------------------------------------------------
+def test_drain_commands_empty():
+    assert _link().drain_commands() == []
+
+
+def test_drain_commands_fifo_and_clear():
+    link = _link()
+    link._commands.append("rtl")
+    link._commands.append("pod_center")
+    assert link.drain_commands() == ["rtl", "pod_center"]
+    assert link.drain_commands() == []      # 取后清空
+
+
+def test_commands_queue_drops_oldest_when_full():
+    link = _link()
+    for i in range(20):
+        link._commands.append(f"c{i}")
+    cmds = link.drain_commands()
+    assert len(cmds) == 16                  # maxlen=16
+    assert cmds[0] == "c4" and cmds[-1] == "c19"
+
+
+# --- run() 真 UDP 回环（坐标 + 命令）-----------------------------------------
+def test_run_receives_coords_and_commands():
+    import asyncio
+    import socket as socket_mod
+
+    probe = socket_mod.socket(socket_mod.AF_INET, socket_mod.SOCK_DGRAM)
+    probe.bind(("127.0.0.1", 0))
+    port = probe.getsockname()[1]
+    probe.close()
+
+    link = GroundLink(GroundInjectConfig(host="127.0.0.1", port=port),
+                      now_ms_fn=lambda: 1234)
+    addr = ("127.0.0.1", port)
+
+    async def scenario():
+        stop = asyncio.Event()
+        task = asyncio.ensure_future(link.run(stop))
+        udp = socket_mod.socket(socket_mod.AF_INET, socket_mod.SOCK_DGRAM)
+        try:
+            for _ in range(200):            # 重发防 bind 竞态
+                udp.sendto(b'{"lat": 1.5, "lon": 2.5}', addr)
+                await asyncio.sleep(0.01)
+                if link.latest().time_ms == 1234:
+                    break
+            udp.sendto(b'{"cmd": "rtl"}', addr)
+            for _ in range(100):
+                if link._commands:
+                    break
+                await asyncio.sleep(0.01)
+        finally:
+            udp.close()
+            stop.set()
+            task.cancel()  # 收包循环阻塞在 sock_recvfrom，须 cancel 唤醒（同 SITL 入口）
+            try:
+                await task
+            except asyncio.CancelledError:
+                pass
+
+    asyncio.run(scenario())
+    assert link.latest().latitude_deg == pytest.approx(1.5)
+    assert link.latest().time_ms == 1234
+    assert link.drain_commands() == ["rtl"]