keita
df91b1110e
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。
81 lines
2.4 KiB
Python
81 lines
2.4 KiB
Python
"""一致性监控测试（规格 §6.7/§11.4：N 帧降级、M 帧判 invalid、正常帧清零、每目标隔离）。"""
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import pytest
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from stereo_ranger import ConsistencyMonitor
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def _monitor() -> ConsistencyMonitor:
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return ConsistencyMonitor(jump_px=3.0, degrade_frames=3, invalid_frames=5)
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def test_first_frame_has_no_reference_jump():
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status = _monitor().advance("t", 10.0)
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assert status.jump_px is None
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assert status.abnormal is False
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assert status.streak == 0
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def test_normal_jump_resets_streak():
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monitor = _monitor()
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monitor.advance("t", 10.0)
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abnormal = monitor.advance("t", 16.0)
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assert abnormal.abnormal and abnormal.streak == 1
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normal = monitor.advance("t", 17.0)
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assert not normal.abnormal and normal.streak == 0
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def test_jump_at_threshold_is_normal():
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monitor = _monitor()
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monitor.advance("t", 10.0)
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assert not monitor.advance("t", 13.0).abnormal # |ΔD| = 3.0 不超门限
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def test_degrades_at_n_frames_and_invalidates_at_m_frames():
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monitor = _monitor()
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monitor.advance("t", 10.0)
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disparities = [14.0, 18.0, 22.0, 26.0, 30.0] # 每帧跳变 4 px > 3 px
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statuses = [monitor.advance("t", d) for d in disparities]
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assert [s.streak for s in statuses] == [1, 2, 3, 4, 5]
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assert [s.confidence_degraded for s in statuses] == [False, False, True, True, True]
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assert [s.invalid for s in statuses] == [False, False, False, False, True]
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def test_targets_are_isolated():
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monitor = _monitor()
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monitor.advance("a", 10.0)
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monitor.advance("b", 20.0)
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monitor.advance("a", 15.0) # a 跳变异常
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assert monitor.streak("a") == 1
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assert monitor.streak("b") == 0
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def test_drop_clears_only_target():
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monitor = _monitor()
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monitor.advance("a", 10.0)
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monitor.advance("a", 20.0)
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monitor.drop("a")
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assert monitor.streak("a") == 0
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assert monitor.advance("a", 40.0).jump_px is None # 状态已清空，重新起始
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def test_clear_resets_all():
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monitor = _monitor()
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monitor.advance("a", 10.0)
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monitor.advance("a", 20.0)
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monitor.clear()
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assert monitor.streak("a") == 0
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@pytest.mark.parametrize(
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"kwargs",
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[
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{"jump_px": 0.0, "degrade_frames": 3, "invalid_frames": 5},
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{"jump_px": 3.0, "degrade_frames": 0, "invalid_frames": 5},
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{"jump_px": 3.0, "degrade_frames": 5, "invalid_frames": 3},
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],
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)
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def test_invalid_ctor_args(kwargs):
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with pytest.raises(ValueError):
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ConsistencyMonitor(**kwargs)
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