keita
477ad5f5de
- pod_bridge: 协议G版编解码/地理位置引导律/PX4网关/串口链路/闭环主循环 - 含三项安全修复: position_time_ms拆分、表2-2锁定门控、run()异常护栏 - 测试92条全绿; 附树莓派4B(Ubuntu 24.04)部署注意事项与最小依赖清单
116 lines
4.3 KiB
Python
116 lines
4.3 KiB
Python
"""config_test.py —— 桥接配置加载与校验单元测试。"""
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import json
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from pathlib import Path
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import pytest
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from pod_bridge.config import (BridgeConfig, GuidanceConfig, PodSerialConfig,
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load_from_json)
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_DEFAULT_CONFIG = Path(__file__).resolve().parents[2] / "config" / "pod_bridge.json"
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def _write(tmp_path, obj) -> str:
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p = tmp_path / "cfg.json"
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p.write_text(json.dumps(obj), encoding="utf-8")
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return str(p)
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def test_shipped_default_config_loads():
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cfg = load_from_json(str(_DEFAULT_CONFIG))
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assert cfg.pod_serial.baudrate == 115200
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assert cfg.px4.connection_string == "udp://:14540"
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assert cfg.link.attitude_downlink_hz == pytest.approx(20.0)
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assert cfg.guidance.max_speed_mps == pytest.approx(5.0)
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assert cfg.guidance.stop_radius_m == pytest.approx(5.0)
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def test_empty_json_uses_all_defaults(tmp_path):
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cfg = load_from_json(_write(tmp_path, {}))
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default = BridgeConfig()
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assert cfg.pod_serial == default.pod_serial
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assert cfg.px4 == default.px4
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assert cfg.link == default.link
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assert cfg.guidance == default.guidance
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def test_partial_override_keeps_other_defaults(tmp_path):
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cfg = load_from_json(_write(tmp_path, {
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"pod_serial": {"port": "COM3"},
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"guidance": {"max_speed_mps": 8.0},
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}))
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assert cfg.pod_serial.port == "COM3"
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assert cfg.pod_serial.baudrate == 115200 # 默认回退
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assert cfg.guidance.max_speed_mps == 8.0
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assert cfg.guidance.stop_radius_m == GuidanceConfig().stop_radius_m # 默认回退
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def test_full_override_roundtrip(tmp_path):
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obj = {
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"pod_serial": {"port": "/dev/ttyUSB0", "baudrate": 115200},
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"px4": {"connection_string": "serial:///dev/ttyS1:57600"},
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"link": {"attitude_downlink_hz": 30.0, "telemetry_timeout_ms": 800},
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"guidance": {"frequency_hz": 20.0, "stop_radius_m": 3.0,
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"max_speed_mps": 7.5, "speed_kp": 0.8, "yaw_kp": 1.5},
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}
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cfg = load_from_json(_write(tmp_path, obj))
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assert cfg.px4.connection_string == "serial:///dev/ttyS1:57600"
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assert cfg.link.attitude_downlink_hz == 30.0
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assert cfg.link.telemetry_timeout_ms == 800
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assert cfg.guidance.frequency_hz == 20.0
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assert cfg.guidance.yaw_kp == 1.5
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# --- 校验错误 ---------------------------------------------------------------
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def test_missing_file_raises():
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with pytest.raises(ValueError, match="打开失败"):
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load_from_json(str(_DEFAULT_CONFIG.parent / "no_such_file.json"))
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def test_non_object_root_raises(tmp_path):
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p = tmp_path / "bad.json"
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p.write_text("[1, 2, 3]", encoding="utf-8")
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with pytest.raises(ValueError, match="根节点必须为对象"):
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load_from_json(str(p))
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def test_malformed_json_raises(tmp_path):
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p = tmp_path / "bad.json"
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p.write_text("{not json", encoding="utf-8")
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with pytest.raises(ValueError, match="解析失败"):
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load_from_json(str(p))
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def test_wrong_type_raises_with_field_name(tmp_path):
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with pytest.raises(ValueError, match="guidance.max_speed_mps"):
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load_from_json(_write(tmp_path, {"guidance": {"max_speed_mps": "fast"}}))
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def test_unknown_key_rejected(tmp_path):
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with pytest.raises(ValueError, match="未知字段"):
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load_from_json(_write(tmp_path, {"guidance": {"max_speed": 5.0}}))
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def test_empty_connection_string_raises(tmp_path):
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with pytest.raises(ValueError, match="px4.connection_string"):
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load_from_json(_write(tmp_path, {"px4": {"connection_string": ""}}))
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@pytest.mark.parametrize("obj,field", [
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({"link": {"attitude_downlink_hz": 100.0}}, "link.attitude_downlink_hz"), # >60
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({"link": {"attitude_downlink_hz": 0.5}}, "link.attitude_downlink_hz"), # <1
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({"guidance": {"max_speed_mps": -1.0}}, "guidance.max_speed_mps"), # 非正
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({"guidance": {"stop_radius_m": -2.0}}, "guidance.stop_radius_m"), # 负
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({"guidance": {"speed_derivative_filter_coef": 1.0}}, # 上界开
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"guidance.speed_derivative_filter_coef"),
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({"pod_serial": {"baudrate": 0}}, "pod_serial.baudrate"), # 非正
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])
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def test_out_of_range_raises(tmp_path, obj, field):
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with pytest.raises(ValueError, match=field.replace(".", r"\.")):
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load_from_json(_write(tmp_path, obj))
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def test_pod_serial_default_port_is_placeholder():
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assert PodSerialConfig().port == ""
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