keita
5a944af4f5
- visual_track_control: ControlSnapshot 加可选 los_beta_deg/los_alpha_deg, 第④步角度直入优先否则回退像素路径(向后兼容); config 拆出 load_from_dict 供内嵌复用 - pod_bridge: BridgeConfig 内嵌 TrackingConfig + 新 HeadingServoConfig; bridge._build_snapshot 合成 β/α(姿态来自PX4/角度来自吊舱,信号双路适配无电机), step 按 heading_servo.enabled 切 L1/L2, DEGRADED_HOLD 补发刹车保 offboard 心跳; run() 循环频率按生效律取(修 L1 频率错配) - run_bridge.py: 闭环 CLI 入口, --dry-run(S2 只接吊舱不发offboard) 与实飞优雅停机 - 配置落 L1 首飞值(slow_approach/0.2mps、垂直压低、无电机仅用脱靶量) - 新增测试 29 条(vtc5+config9+bridgeL1 10+runner5); 全量 401 passed
526 lines
18 KiB
Python
526 lines
18 KiB
Python
"""bridge_test.py —— PodBridge 闭环主循环单元测试（FakePx4 + FakePod，无硬件）。
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覆盖：单周期 step（有/无目标、位置无效、位置时间戳超龄）、姿态下发节流与帧内容、
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吊舱帧入站缓存、锁定门控（表2-2 bit2 + 遥测超龄）、触发式控制指令编码、
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start/stop 生命周期与停机刹车、run() 主循环异常护栏与故障恢复。
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"""
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import asyncio
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import time
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from dataclasses import replace
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import pytest
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from pod_bridge.bridge import PodBridge
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from pod_bridge.config import BridgeConfig, load_from_json
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from pod_bridge.protocol import (ControlCode, ControlCommand, TargetGeo,
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Telemetry, decode_attitude, decode_control)
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from pod_bridge.px4_gateway import OwnState
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class FakePx4:
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def __init__(self, state=None):
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self._state = state or OwnState()
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self.telemetry_started = False
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self.telemetry_stopped = False
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self.offboard_started = False
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self.offboard_stopped = False
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self.offboard_start_ok = True
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self.velocity_calls = []
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self.brake_calls = []
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def own_state(self):
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return replace(self._state)
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async def start_telemetry(self):
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self.telemetry_started = True
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async def stop_telemetry(self):
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self.telemetry_stopped = True
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async def start_offboard(self):
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self.offboard_started = True
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return self.offboard_start_ok
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async def stop_offboard(self):
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self.offboard_stopped = True
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async def send_velocity_heading(self, out, time_boot_ms=None):
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self.velocity_calls.append((out, time_boot_ms))
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return True
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async def send_brake_hover(self, time_boot_ms=None):
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self.brake_calls.append(time_boot_ms)
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return True
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class FakePod:
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def __init__(self):
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self.inbox = []
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self.sent = []
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self.closed = False
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def queue(self, *frames):
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self.inbox.extend(frames)
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def poll(self):
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out, self.inbox = self.inbox, []
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return out
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def send(self, data):
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self.sent.append(data)
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def close(self):
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self.closed = True
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def _valid_state(now_ms, lat=0.0, lon=0.0, yaw_rad=0.0, gs=0.0):
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return OwnState(latitude_deg=lat, longitude_deg=lon, yaw_rad=yaw_rad,
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ground_speed_mps=gs, fix_type=3, num_satellites=12,
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has_position=True, has_attitude=True, position_valid=True,
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time_ms=now_ms, position_time_ms=now_ms)
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def _locked_telemetry(laser=50.0):
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"""状态字节1 bit2=1(锁定)的遥测帧;默认带有效激光(默认闸门要求激光有效)。"""
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return Telemetry(status1=0b00000100, laser_range_m=laser)
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def _bridge(px4, pod, cfg=None):
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return PodBridge(cfg or BridgeConfig(), px4, pod, now_ms_fn=lambda: 0)
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# --- step：有目标 → 速度指令 ------------------------------------------------
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def test_step_with_target_commands_velocity():
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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pod.queue(TargetGeo(latitude_deg=0.001, longitude_deg=0.0), # 正北 ~111m
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_locked_telemetry())
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b = _bridge(px4, pod)
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out = asyncio.run(b.step(1000))
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assert out.mode.name == "VELOCITY_HEADING"
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assert len(px4.velocity_calls) == 1
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assert px4.brake_calls == []
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def test_step_without_target_brakes():
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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b = _bridge(px4, pod)
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out = asyncio.run(b.step(1000))
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assert out.mode.name == "BRAKE_HOVER"
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assert len(px4.brake_calls) == 1
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assert px4.velocity_calls == []
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def test_step_invalid_position_brakes_even_with_target():
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state = replace(_valid_state(1000), position_valid=False, fix_type=0)
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px4 = FakePx4(state)
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pod = FakePod()
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pod.queue(TargetGeo(latitude_deg=0.001))
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b = _bridge(px4, pod)
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out = asyncio.run(b.step(1000))
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assert out.mode.name == "BRAKE_HOVER"
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# --- 姿态下发：首拍即发 + 节流 + 帧内容 ------------------------------------
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def test_attitude_downlinked_on_first_step_with_own_state():
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px4 = FakePx4(_valid_state(1000, lat=31.5, lon=121.5, yaw_rad=1.57, gs=4.0))
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pod = FakePod()
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b = _bridge(px4, pod)
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asyncio.run(b.step(1000))
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assert len(pod.sent) == 1
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att = decode_attitude(pod.sent[0])
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assert abs(att.latitude_deg - 31.5) < 1e-6
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assert abs(att.longitude_deg - 121.5) < 1e-6
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assert abs(att.yaw_deg - 89.95) < 0.02 # 1.57 rad ≈ 89.95°
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assert att.ground_speed_mps == 4.0
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assert att.year >= 2026 and 1 <= att.month <= 12
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def test_attitude_downlink_throttled():
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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cfg = BridgeConfig()
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cfg.link.attitude_downlink_hz = 20.0 # 周期 50ms
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b = _bridge(px4, pod, cfg)
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async def scenario():
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await b.step(1000) # 发（首拍）
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await b.step(1010) # 10ms < 50ms，跳过
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await b.step(1040) # 40ms < 50ms，跳过
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await b.step(1060) # 60ms ≥ 50ms，发
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asyncio.run(scenario())
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assert len(pod.sent) == 2
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# --- 吊舱帧入站缓存 --------------------------------------------------------
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def test_target_frame_updates_latest_and_flips_to_velocity():
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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b = _bridge(px4, pod)
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asyncio.run(b.step(1000)) # 无目标 → 刹车
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assert b.latest_target is None
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pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry())
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asyncio.run(b.step(1100)) # 收到目标且锁定 → 速度
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assert b.latest_target is not None
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assert len(px4.velocity_calls) == 1
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def test_telemetry_frame_cached():
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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pod.queue(Telemetry(laser_range_m=88.8))
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b = _bridge(px4, pod)
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asyncio.run(b.step(1000))
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assert b.latest_telemetry is not None
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assert b.latest_telemetry[0].laser_range_m == 88.8
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# --- 触发式控制指令 --------------------------------------------------------
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def test_send_control_encodes_frame():
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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b = _bridge(px4, pod)
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b.send_control(ControlCommand(code=ControlCode.CENTER))
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assert len(pod.sent) == 1
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assert decode_control(pod.sent[0]).code == ControlCode.CENTER
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# --- 生命周期 --------------------------------------------------------------
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def test_start_wires_telemetry_and_offboard():
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px4 = FakePx4(_valid_state(0))
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b = _bridge(px4, FakePod())
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assert asyncio.run(b.start()) is True
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assert px4.telemetry_started and px4.offboard_started
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def test_start_returns_false_when_offboard_fails():
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px4 = FakePx4(_valid_state(0))
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px4.offboard_start_ok = False
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b = _bridge(px4, FakePod())
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assert asyncio.run(b.start()) is False
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def test_stop_brakes_and_tears_down():
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px4 = FakePx4(_valid_state(0))
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pod = FakePod()
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b = _bridge(px4, pod)
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async def scenario():
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await b.start()
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await b.stop()
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asyncio.run(scenario())
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assert len(px4.brake_calls) >= 1 # 停机前刹车
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assert px4.offboard_stopped and px4.telemetry_stopped
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assert pod.closed
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# --- 缺陷①回归:position 时间戳超龄 -------------------------------------------
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def test_step_brakes_when_position_timestamp_stale():
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"""time_ms 被姿态流刷得很新,但 position_time_ms 超龄 → 必须刹车。"""
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state = replace(_valid_state(1000), time_ms=100000, position_time_ms=1000)
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px4 = FakePx4(state)
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pod = FakePod()
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pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry())
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b = _bridge(px4, pod)
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out = asyncio.run(b.step(100000)) # position 已 99s 未更新
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assert out.mode.name == "BRAKE_HOVER"
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assert px4.velocity_calls == []
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# --- 缺陷②:锁定门控 -----------------------------------------------------------
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def test_target_without_lock_bit_brakes():
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"""吊舱在搜索状态(bit2=0),即使收到表4 坐标也必须刹车。"""
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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pod.queue(TargetGeo(latitude_deg=0.001), Telemetry(status1=0)) # 未锁定
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b = _bridge(px4, pod)
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out = asyncio.run(b.step(1000))
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assert out.mode.name == "BRAKE_HOVER"
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assert px4.velocity_calls == []
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def test_target_without_any_telemetry_brakes():
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"""只收到表4、从未收到表2-2 → 锁定状态未知,按未锁定处理。"""
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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pod.queue(TargetGeo(latitude_deg=0.001))
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b = _bridge(px4, pod)
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out = asyncio.run(b.step(1000))
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assert out.mode.name == "BRAKE_HOVER"
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def test_target_with_stale_telemetry_brakes():
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"""锁定遥测超龄(> link.telemetry_timeout_ms)→ 目标视为无效。"""
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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cfg = BridgeConfig()
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cfg.link.telemetry_timeout_ms = 500
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b = PodBridge(cfg, px4, pod, now_ms_fn=lambda: 0)
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async def scenario():
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pod.queue(_locked_telemetry(), TargetGeo(latitude_deg=0.001))
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await b.step(1000) # 遥测新鲜,但此刻若无目标则刹车
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pod.queue(TargetGeo(latitude_deg=0.001))
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out1 = await b.step(1200) # 遥测 200ms 前,仍新鲜 → 速度
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out2 = await b.step(1600) # 遥测 600ms 前,超龄 → 刹车
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return out1, out2
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out1, out2 = asyncio.run(scenario())
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assert out1.mode.name == "VELOCITY_HEADING"
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assert out2.mode.name == "BRAKE_HOVER"
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def test_lock_lost_midflight_falls_back_to_brake():
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"""先锁定引导,随后遥测变为搜索状态 → 立即回落刹车。"""
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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b = _bridge(px4, pod)
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async def scenario():
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pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry())
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out1 = await b.step(1000)
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pod.queue(Telemetry(status1=0)) # 丢失锁定
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out2 = await b.step(1100)
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return out1, out2
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out1, out2 = asyncio.run(scenario())
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assert out1.mode.name == "VELOCITY_HEADING"
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assert out2.mode.name == "BRAKE_HOVER"
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# --- 激光有效性门控(锁定位置位粘滞时的兜底)-----------------------------------
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def test_laser_invalid_blocks_guidance_when_required():
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"""默认 require_laser_valid=True:锁定位置位但激光无效 → 目标无效 → 刹车。"""
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry(laser=None))
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b = _bridge(px4, pod)
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out = asyncio.run(b.step(1000))
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assert out.mode.name == "BRAKE_HOVER"
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assert px4.velocity_calls == []
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def test_laser_invalid_allowed_when_gate_disabled():
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"""本设备无激光(厂商确认)→ require_laser_valid=False 时照常引导。"""
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px4 = FakePx4(_valid_state(1000))
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pod = FakePod()
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pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry(laser=None))
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cfg = BridgeConfig()
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cfg.link.require_laser_valid = False
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b = _bridge(px4, pod, cfg)
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out = asyncio.run(b.step(1000))
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assert out.mode.name == "VELOCITY_HEADING"
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def test_deployed_config_disables_laser_gate():
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"""部署配置回归:本机无激光,pod_bridge.json 必须关掉激光闸门。"""
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import os
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path = os.path.join(os.path.dirname(os.path.dirname(os.path.dirname(
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os.path.abspath(__file__)))), "config", "pod_bridge.json")
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cfg = load_from_json(path)
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assert cfg.link.require_laser_valid is False
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# --- 缺陷③:run() 异常护栏 -----------------------------------------------------
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class FlakyPod(FakePod):
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"""前 fail_times 次 poll 抛串口异常,之后恢复正常。"""
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def __init__(self, fail_times):
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super().__init__()
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self.fail_times = fail_times
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def poll(self):
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if self.fail_times > 0:
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self.fail_times -= 1
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raise OSError("serial device disconnected")
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return super().poll()
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def _run_bridge(px4, pod, hz=200.0):
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cfg = BridgeConfig()
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cfg.guidance.frequency_hz = hz # 加快节拍,缩短测试时间
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return PodBridge(cfg, px4, pod) # 用真实单调时钟
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def test_run_survives_poll_exceptions_and_keeps_heartbeat():
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"""串口持续异常:任务不死、每周期补发刹车保心跳、stop_event 正常退出。"""
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now = int(time.monotonic() * 1000)
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px4 = FakePx4(_valid_state(now))
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pod = FlakyPod(fail_times=10**9) # 永远失败
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b = _run_bridge(px4, pod)
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async def scenario():
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stop = asyncio.Event()
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task = asyncio.ensure_future(b.run(stop))
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await asyncio.sleep(0.2)
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stop.set()
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await asyncio.wait_for(task, timeout=2.0)
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asyncio.run(scenario())
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assert len(px4.brake_calls) > 0 # 异常期间持续补发刹车
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assert pod.fail_times > 0 # 循环确实在反复尝试(未提前退出)
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def test_run_recovers_after_transient_failure():
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"""串口短暂异常后恢复:异常期刹车,恢复后照常引导。"""
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now = int(time.monotonic() * 1000)
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px4 = FakePx4(_valid_state(now))
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pod = FlakyPod(fail_times=3)
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pod.queue(TargetGeo(latitude_deg=0.001), _locked_telemetry())
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b = _run_bridge(px4, pod)
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async def scenario():
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stop = asyncio.Event()
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task = asyncio.ensure_future(b.run(stop))
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await asyncio.sleep(0.3)
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stop.set()
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await asyncio.wait_for(task, timeout=2.0)
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asyncio.run(scenario())
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assert len(px4.brake_calls) >= 3 # 3 次异常各补一发刹车
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assert len(px4.velocity_calls) >= 1 # 恢复后进入正常引导
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assert b._step_failures == 0 # 计数已复位
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# --- L1 航向伺服（方案 §2，heading_servo.enabled=True）-----------------------
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def _l1_config(**hs_overrides):
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"""L1 配置：控制律限幅近似透明，前向置 0，隔离验证 β→yaw_rate / α→vz 数学。"""
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cfg = BridgeConfig()
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cfg.heading_servo.enabled = True
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for k, v in hs_overrides.items():
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setattr(cfg.heading_servo, k, v)
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t = cfg.tracking
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t.heading.gain = 1.0
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t.heading.yaw_rate_limit_dps = 30.0
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t.heading.yaw_slew_limit_dps2 = 100000.0
|
||
t.vertical.vz_gain_mps_per_deg = 0.1
|
||
t.vertical.vz_limit_mps = 2.0
|
||
t.accel_limit.ax_mps2 = 1000.0
|
||
t.accel_limit.ay_mps2 = 1000.0
|
||
t.accel_limit.az_mps2 = 1000.0
|
||
t.distance.no_distance_approach_limit_mps = 0.0 # L1 前向隔离为 0
|
||
return cfg
|
||
|
||
|
||
def _locked_off_target(x=0.0, y=0.0, frame_yaw=0.0, frame_pitch=0.0, laser=50.0):
|
||
"""bit2=锁定 + 有效激光，带指定脱靶量/框架角的遥测帧。"""
|
||
return Telemetry(status1=0b00000100, laser_range_m=laser,
|
||
off_target_x_deg=x, off_target_y_deg=y,
|
||
frame_yaw_deg=frame_yaw, frame_pitch_deg=frame_pitch)
|
||
|
||
|
||
def test_l1_off_target_beta_drives_yaw_rate():
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(x=10.0)) # 目标偏右 10° → 右转正
|
||
b = _bridge(px4, pod, _l1_config())
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.mode.name == "VELOCITY_HEADING"
|
||
assert out.yaw_rate_dps == pytest.approx(10.0, abs=1e-9)
|
||
assert len(px4.velocity_calls) == 1
|
||
|
||
|
||
def test_l1_beta_sign_flips_direction():
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(x=10.0))
|
||
b = _bridge(px4, pod, _l1_config(beta_sign=-1)) # 台架标定若接反，配置翻符号
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.yaw_rate_dps == pytest.approx(-10.0, abs=1e-9)
|
||
|
||
|
||
def test_l1_frame_angle_ignored_when_disabled():
|
||
# 无电机：beta_from_frame=False → frame_yaw 不贡献，仅脱靶量生效
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(x=5.0, frame_yaw=99.0))
|
||
b = _bridge(px4, pod, _l1_config())
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.yaw_rate_dps == pytest.approx(5.0, abs=1e-9)
|
||
|
||
|
||
def test_l1_frame_angle_added_when_enabled():
|
||
# 装电机后：beta_from_frame=True → β = frame_yaw + off_target_x
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(x=5.0, frame_yaw=3.0))
|
||
b = _bridge(px4, pod, _l1_config(beta_from_frame=True))
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.yaw_rate_dps == pytest.approx(8.0, abs=1e-9)
|
||
|
||
|
||
def test_l1_vertical_enabled_drives_vz():
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(y=20.0)) # α=20° × gain 0.1 = 2.0（上限 2.0）
|
||
b = _bridge(px4, pod, _l1_config())
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.vz_mps == pytest.approx(2.0, abs=1e-9)
|
||
|
||
|
||
def test_l1_vertical_disabled_zeroes_vz():
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(y=20.0))
|
||
b = _bridge(px4, pod, _l1_config(vertical_enabled=False))
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.vz_mps == 0.0
|
||
|
||
|
||
def test_l1_not_locked_brakes():
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(Telemetry(status1=0, off_target_x_deg=10.0)) # 搜索态
|
||
b = _bridge(px4, pod, _l1_config())
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.mode.name == "BRAKE_HOVER"
|
||
assert px4.velocity_calls == []
|
||
assert len(px4.brake_calls) == 1
|
||
|
||
|
||
def test_l1_no_telemetry_degrades_and_keeps_heartbeat():
|
||
# 无表2-2 → track_time_ms=0 → 控制律判视觉超龄 → DEGRADED_HOLD；仍补发刹车保心跳
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
b = _bridge(px4, pod, _l1_config())
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.mode.name == "DEGRADED_HOLD"
|
||
assert px4.velocity_calls == []
|
||
assert len(px4.brake_calls) == 1
|
||
|
||
|
||
def test_l1_require_vision_blocks_without_source():
|
||
# §2.3 第二判据：require_vision=True 但未接视觉源 → fail-safe 视为无目标 → 刹车
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(x=10.0))
|
||
b = _bridge(px4, pod, _l1_config(require_vision=True))
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.mode.name == "BRAKE_HOVER"
|
||
assert px4.velocity_calls == []
|
||
|
||
|
||
def test_l1_require_vision_passes_with_source():
|
||
px4 = FakePx4(_valid_state(1000))
|
||
pod = FakePod()
|
||
pod.queue(_locked_off_target(x=10.0))
|
||
b = PodBridge(_l1_config(require_vision=True), px4, pod,
|
||
now_ms_fn=lambda: 0, vision_target_fn=lambda: True)
|
||
out = asyncio.run(b.step(1000))
|
||
assert out.mode.name == "VELOCITY_HEADING"
|
||
assert out.yaw_rate_dps == pytest.approx(10.0, abs=1e-9)
|
||
|