eSlider
2a6b50929c
Keep the 45-byte pose frame consistent across docs, simulator, and prototype, clarify MinIO is not peer sync, and state clearly that the repo is a from-scratch platform sketch with options rather than mandates.
47 lines
1.4 KiB
Python
47 lines
1.4 KiB
Python
"""Pose broadcast frame encode/decode roundtrip."""
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from __future__ import annotations
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import pytest
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from virtual_drone.broadcast import FRAME, decode_state, encode_state
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from virtual_drone.flight import Pose
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def test_frame_size_matches_wire_spec() -> None:
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# Keep docs/04, the journey, and prototype/src/sim.ts POSE_BYTES in lockstep.
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assert FRAME.size == 45
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def test_encode_decode_roundtrip() -> None:
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pose = Pose(
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ts_ns=1_700_000_000_000_000_000,
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x=123.456,
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y=78.9,
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z=60.0,
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roll=1.5,
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pitch=-2.0,
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yaw=45.0,
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vx=3.2,
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vy=-1.1,
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vz=0.05,
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)
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payload = encode_state("dr-01", pose, flags=0)
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assert len(payload) == FRAME.size
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decoded = decode_state(payload)
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assert decoded is not None
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assert decoded["peer_id"] == "dr-01"
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assert decoded["ts_ns"] == pose.ts_ns
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assert decoded["pos_x"] == pytest.approx(pose.x, abs=0.001)
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assert decoded["pos_y"] == pytest.approx(pose.y, abs=0.001)
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assert decoded["pos_z"] == pytest.approx(pose.z, abs=0.001)
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assert decoded["roll"] == pytest.approx(pose.roll, abs=0.01)
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assert decoded["pitch"] == pytest.approx(pose.pitch, abs=0.01)
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assert decoded["yaw"] == pytest.approx(pose.yaw, abs=0.01)
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def test_rejects_invalid_payload() -> None:
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assert decode_state(b"short") is None
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assert decode_state(b"XX" + b"\0" * (FRAME.size - 2)) is None
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