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
215 lines
7.0 KiB
Python
215 lines
7.0 KiB
Python
"""px4_gateway_test.py —— Px4Gateway 单元测试（mock 遥测流 + mock offboard）。
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覆盖：遥测缓存更新（position/attitude/gps/velocity）、position_valid 判据、
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快照副本隔离、时间戳注入、枚举转换、offboard 指令委托、异步订阅启停。
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"""
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import asyncio
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from enum import Enum
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from types import SimpleNamespace
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import pytest
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from pod_bridge.px4_gateway import OwnState, Px4Gateway, _enum_int
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class FakeOffboard:
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def __init__(self):
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self.body = []
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self.ned = []
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self.start_count = 0
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self.stop_count = 0
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async def set_velocity_body(self, sp):
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self.body.append(sp)
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async def set_velocity_ned(self, sp):
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self.ned.append(sp)
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async def start(self):
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self.start_count += 1
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async def stop(self):
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self.stop_count += 1
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class FakeTelemetry:
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"""各遥测流：先吐预设消息，再挂起（由 stop_telemetry 取消）。"""
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def __init__(self, position=None, attitude=None, gps=None, velocity=None):
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self._position = position or []
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self._attitude = attitude or []
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self._gps = gps or []
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self._velocity = velocity or []
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async def _stream(self, msgs):
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for m in msgs:
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yield m
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await asyncio.sleep(3600)
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def position(self):
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return self._stream(self._position)
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def attitude_euler(self):
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return self._stream(self._attitude)
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def gps_info(self):
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return self._stream(self._gps)
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def velocity_body(self):
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return self._stream(self._velocity)
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class FakeDrone:
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def __init__(self, telemetry=None):
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self.offboard = FakeOffboard()
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self.telemetry = telemetry or FakeTelemetry()
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def _pos(lat=31.0, lon=121.0, aalt=100.0, ralt=50.0):
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return SimpleNamespace(latitude_deg=lat, longitude_deg=lon,
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absolute_altitude_m=aalt, relative_altitude_m=ralt)
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def _att(roll=0.1, pitch=0.2, yaw=1.57):
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return SimpleNamespace(roll_rad=roll, pitch_rad=pitch, yaw_rad=yaw)
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# --- 枚举转换 ---------------------------------------------------------------
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def test_enum_int_handles_enum_and_raw():
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class Fix(Enum):
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NO_FIX = 0
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THREE_D = 3
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assert _enum_int(Fix.THREE_D) == 3
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assert _enum_int(3) == 3
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assert _enum_int(None) == 0
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# --- 缓存更新 ---------------------------------------------------------------
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def test_update_position_sets_fields_but_not_valid_without_gps():
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gw = Px4Gateway(FakeDrone())
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gw.update_position(_pos())
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s = gw.own_state()
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assert s.latitude_deg == 31.0 and s.longitude_deg == 121.0
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assert s.absolute_altitude_m == 100.0 and s.relative_altitude_m == 50.0
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assert s.has_position is True
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assert s.position_valid is False # 尚无 GPS 定位
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def test_position_valid_requires_3d_fix():
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gw = Px4Gateway(FakeDrone())
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gw.update_position(_pos())
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gw.update_gps(SimpleNamespace(fix_type=3, num_satellites=12))
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s = gw.own_state()
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assert s.position_valid is True
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assert s.num_satellites == 12
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# 定位降级 → 立即失效
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gw.update_gps(SimpleNamespace(fix_type=2, num_satellites=6))
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assert gw.own_state().position_valid is False
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def test_update_attitude_sets_radians():
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gw = Px4Gateway(FakeDrone())
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gw.update_attitude(_att())
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s = gw.own_state()
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assert s.has_attitude is True
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assert s.yaw_rad == pytest.approx(1.57)
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def test_update_velocity_body_ground_speed_is_horizontal_magnitude():
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gw = Px4Gateway(FakeDrone())
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gw.update_velocity_body(SimpleNamespace(forward_m_s=3.0, right_m_s=4.0,
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down_m_s=-9.9))
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assert gw.own_state().ground_speed_mps == pytest.approx(5.0) # 不含 down
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def test_timestamp_uses_injected_clock():
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clock = [1000]
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gw = Px4Gateway(FakeDrone(), now_ms_fn=lambda: clock[0])
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gw.update_position(_pos())
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assert gw.own_state().time_ms == 1000
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assert gw.own_state().position_time_ms == 1000
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clock[0] = 1500
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gw.update_attitude(_att())
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assert gw.own_state().time_ms == 1500
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assert gw.own_state().position_time_ms == 1000 # 姿态流不得代刷位置时间戳
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def test_own_state_returns_isolated_copy():
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gw = Px4Gateway(FakeDrone())
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gw.update_position(_pos(lat=10.0))
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snap = gw.own_state()
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snap.latitude_deg = 999.0
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assert gw.own_state().latitude_deg == 10.0 # 内部状态未被外部副本修改
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# --- offboard 指令委托 ------------------------------------------------------
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def test_command_delegation_reaches_offboard():
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drone = FakeDrone()
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gw = Px4Gateway(drone)
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async def scenario():
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assert await gw.start_offboard()
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out = SimpleNamespace(yaw_rate_dps=5.0, vx_body_mps=1.5, vz_mps=0.0,
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vx_mps=0.0, vy_mps=0.0, yaw_deg=0.0)
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assert await gw.send_velocity_heading(out, 1)
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assert await gw.send_brake_hover(2)
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await gw.stop_offboard()
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asyncio.run(scenario())
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assert drone.offboard.start_count == 1
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assert len(drone.offboard.body) >= 2
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assert drone.offboard.stop_count == 1
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# --- 异步订阅启停 -----------------------------------------------------------
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def test_start_telemetry_populates_cache_then_stop():
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telemetry = FakeTelemetry(
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position=[_pos(lat=22.0, lon=114.0)],
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attitude=[_att(yaw=0.5)],
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gps=[SimpleNamespace(fix_type=3, num_satellites=10)],
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velocity=[SimpleNamespace(forward_m_s=2.0, right_m_s=0.0, down_m_s=0.0)],
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)
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gw = Px4Gateway(FakeDrone(telemetry))
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async def scenario():
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await gw.start_telemetry()
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await asyncio.sleep(0.05) # 让后台任务消费预设消息
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s = gw.own_state()
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assert s.latitude_deg == 22.0 and s.longitude_deg == 114.0
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assert s.yaw_rad == pytest.approx(0.5)
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assert s.position_valid is True
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assert s.ground_speed_mps == pytest.approx(2.0)
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await gw.stop_telemetry()
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assert gw._tasks == []
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asyncio.run(scenario())
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def test_default_own_state_is_invalid():
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s = OwnState()
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assert s.has_position is False and s.position_valid is False
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assert s.time_ms == 0 and s.position_time_ms == 0
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def test_position_timestamp_not_refreshed_by_other_streams():
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"""缺陷①回归:position 流断更后,attitude/gps/velocity 高频流继续刷新
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time_ms 时,position_time_ms 必须保持原值(位置超龄判定才有效)。"""
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clock = [1000]
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gw = Px4Gateway(FakeDrone(), now_ms_fn=lambda: clock[0])
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gw.update_position(_pos())
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assert gw.own_state().position_time_ms == 1000
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clock[0] = 2000
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gw.update_attitude(_att())
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gw.update_gps(SimpleNamespace(fix_type=3, num_satellites=9))
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gw.update_velocity_body(SimpleNamespace(forward_m_s=1.0, right_m_s=0.0,
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down_m_s=0.0))
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s = gw.own_state()
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assert s.time_ms == 2000 # 诊断时间戳照常刷新
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assert s.position_time_ms == 1000 # 位置时间戳停留 → 超龄判定可触发
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clock[0] = 2500
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gw.update_position(_pos(lat=32.0)) # position 流恢复 → 时间戳跟进
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assert gw.own_state().position_time_ms == 2500
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