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
83 lines
3.0 KiB
Python
83 lines
3.0 KiB
Python
"""run_bridge_test.py —— 桥接闭环入口单元测试（干跑桩 + 打印 + 干跑循环，无硬件）。
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重点守住 S2 干跑的安全属性：DryRunPx4 合成新鲜姿态让闭环能跑，但 send_* 只计数、
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**绝不下发 offboard**；串口未指定时报错退出而非静默。
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"""
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import asyncio
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from types import SimpleNamespace
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import pytest
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from pod_bridge.config import BridgeConfig
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from pod_bridge.protocol import Telemetry
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from pod_bridge.run_bridge import DryRunPx4, _format_status, _run_dry
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class FakePod:
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def __init__(self, *frames):
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self.inbox = list(frames)
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self.sent = []
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self.closed = False
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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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# --- DryRunPx4：合成姿态 + 不发 offboard ------------------------------------
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def test_dry_run_px4_state_is_fresh():
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px4 = DryRunPx4(now_ms_fn=lambda: 12345)
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st = px4.own_state()
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assert st.has_attitude and st.position_valid
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assert st.time_ms == 12345 and st.position_time_ms == 12345
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def test_dry_run_px4_never_sends_offboard():
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px4 = DryRunPx4()
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assert asyncio.run(px4.start_offboard()) is True
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assert asyncio.run(px4.send_velocity_heading(object())) is True
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assert asyncio.run(px4.send_brake_hover()) is True
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# 只计数，无任何硬件副作用
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assert px4.velocity_calls == 1 and px4.brake_calls == 1
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def test_format_status_shows_mode_and_angles():
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out = SimpleNamespace(mode=SimpleNamespace(name="VELOCITY_HEADING"),
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yaw_rate_dps=10.0, vx_body_mps=0.2, vz_mps=0.0)
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tel = (Telemetry(status1=0b00000100, off_target_x_deg=10.0,
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off_target_y_deg=-3.0, frame_yaw_deg=0.0), 1000)
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line = _format_status(1.0, out, tel, locked=True)
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assert "VELOCITY_HEADING" in line
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assert "+10.00" in line # off_target_x
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assert "locked=1" in line
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# --- 干跑循环 ---------------------------------------------------------------
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def test_run_dry_completes_and_downlinks_only(monkeypatch):
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# 注入假串口：不碰真硬件，验证干跑循环能跑通并正常收尾
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pod = FakePod(Telemetry(status1=0b00000100, off_target_x_deg=10.0))
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monkeypatch.setattr("pod_bridge.run_bridge.PodSerial", lambda *a, **k: pod)
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cfg = BridgeConfig()
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cfg.heading_servo.enabled = True
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cfg.tracking.control.frequency_hz = 200.0 # 加快节拍，缩短测试
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args = SimpleNamespace(port="/dev/fake", duration=0.05, print_hz=0.0)
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rc = asyncio.run(_run_dry(cfg, args))
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assert rc == 0
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assert pod.closed # 收尾关闭串口
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def test_run_dry_requires_port(monkeypatch):
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monkeypatch.setattr("pod_bridge.run_bridge.PodSerial",
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lambda *a, **k: pytest.fail("无端口时不应打开串口"))
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cfg = BridgeConfig() # pod_serial.port 默认空
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args = SimpleNamespace(port=None, duration=0.0, print_hz=5.0)
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assert asyncio.run(_run_dry(cfg, args)) == 2
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