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。
95 lines
2.8 KiB
Python
95 lines
2.8 KiB
Python
"""StereoConfig 校验与 JSON 加载测试（规格 §9：配置外置、fail-fast）。"""
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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 stereo_ranger import StereoConfig, load_from_json
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CONFIG_PATH = Path(__file__).resolve().parents[2] / "config" / "stereo_ranger.json"
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def _config_dict() -> dict:
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return json.loads(CONFIG_PATH.read_text(encoding="utf-8"))
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def _write(tmp_path: Path, data: dict) -> str:
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path = tmp_path / "stereo.json"
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path.write_text(json.dumps(data, ensure_ascii=False), encoding="utf-8")
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return str(path)
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def test_defaults_are_valid_and_domains_are_consistent():
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cfg = StereoConfig()
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assert cfg.focal_baseline_px_m == pytest.approx(cfg.fx_px * cfg.baseline_m)
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assert cfg.z_min_m == pytest.approx(cfg.focal_baseline_px_m / cfg.disparity_max_px)
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assert cfg.z_max_m == pytest.approx(cfg.focal_baseline_px_m / cfg.disparity_min_px)
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assert cfg.z_error_budget_max_m == pytest.approx((cfg.max_delta_z_m * cfg.focal_baseline_px_m) ** 0.5)
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def test_load_from_json_matches_defaults():
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assert load_from_json(str(CONFIG_PATH)) == StereoConfig()
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def test_missing_field_rejected(tmp_path):
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data = _config_dict()
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data.pop("baseline_m")
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with pytest.raises(ValueError, match="缺少配置字段"):
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load_from_json(_write(tmp_path, data))
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def test_unknown_field_rejected(tmp_path):
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data = _config_dict()
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data["radar_fallback"] = True
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with pytest.raises(ValueError, match="未知配置字段"):
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load_from_json(_write(tmp_path, data))
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@pytest.mark.parametrize(
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"field,value",
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[
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("fx_px", "960"),
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("consistency_N_frames", 3.5),
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("smooth_alpha", True),
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],
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)
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def test_type_error_rejected(tmp_path, field, value):
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data = _config_dict()
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data[field] = value
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with pytest.raises(ValueError, match="配置类型非法"):
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load_from_json(_write(tmp_path, data))
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@pytest.mark.parametrize(
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"field,value",
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[
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("fx_px", 0.0),
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("fy_px", -1.0),
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("cx_px", -0.5),
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("cy_px", -0.5),
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("baseline_m", 0.0),
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("tau_y_px", 0.0),
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("tau_h_ratio", 0.0),
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("disparity_min_px", 0.0),
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("disparity_min_px", 60.0),
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("max_delta_z_m", 0.0),
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("consistency_N_frames", 0),
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("consistency_M_frames", 2),
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("consistency_jump_px", 0.0),
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("smooth_alpha", 0.0),
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("smooth_alpha", 1.5),
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("jump_reset_m", 0.0),
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("filter_reset_frames", 0),
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("isolation_gate_px", 0.0),
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],
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)
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def test_invalid_values_rejected(field, value):
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with pytest.raises(ValueError, match="配置非法"):
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StereoConfig(**{field: value})
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def test_boundary_values_accepted():
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cfg = StereoConfig(disparity_min_px=3.0, disparity_max_px=3.0 + 1e-9, smooth_alpha=1.0, consistency_M_frames=3)
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assert cfg.z_max_m > cfg.z_min_m
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