77a2fbc9c0
- Added comprehensive integration tests in test/acceptance/ covering all 6 acceptance scenarios from plan.md - AS-1: First-time setup in under 5 minutes - verifies PIN setup and node auto-discovery - AS-2: Person detected while walking - verifies blob detection during walker simulation - AS-3: Fall alert fires correctly - verifies fall detection with webhook integration - AS-4: BLE identity resolves to person name - verifies BLE device registration and identity matching - AS-5: OTA update succeeds / rollback on bad firmware - verifies OTA workflow and rollback - AS-6: Replay shows recorded history - verifies replay session creation, seeking, and playback Tests use spaxel-sim CLI as the test harness and verify: - API endpoint responses (/api/auth/setup, /api/nodes, /api/blobs, /api/events, /api/ble/devices, /api/replay/*) - Detection accuracy thresholds (>60% blob presence during walking) - Alert generation and webhook delivery - Firmware version updates and rollback behavior - Replay session lifecycle management All tests skip by default unless ACCEPTANCE_TEST=1 or SPAXEL_INTEGRATION_TEST=1 is set. Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
917 lines
30 KiB
Go
917 lines
30 KiB
Go
// Package api provides REST API tests for self-improving localization.
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package api
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import (
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"encoding/json"
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"net/http"
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"net/http/httptest"
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"os"
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"path/filepath"
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"testing"
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"time"
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"github.com/go-chi/chi/v5"
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"github.com/spaxel/mothership/internal/localization"
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)
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func TestLocalizationHandler_getWeights(t *testing.T) {
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// Create temporary directory
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tmpDir, err := os.MkdirTemp("", "localization_api_test")
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if err != nil {
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t.Fatalf("Failed to create temp dir: %v", err)
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}
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defer os.RemoveAll(tmpDir) //nolint:errcheck
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// Create components
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gtStore, err := localization.NewGroundTruthStore(
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filepath.Join(tmpDir, "groundtruth.db"),
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localization.DefaultGroundTruthStoreConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create ground truth store: %v", err)
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}
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defer gtStore.Close() //nolint:errcheck
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swLearner, err := localization.NewSpatialWeightLearner(
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filepath.Join(tmpDir, "spatial_weights.db"),
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localization.DefaultSpatialWeightLearnerConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create spatial weight learner: %v", err)
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}
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defer swLearner.Close() //nolint:errcheck
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wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
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if err != nil {
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t.Fatalf("Failed to create weight store: %v", err)
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}
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defer wStore.Close() //nolint:errcheck
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config := localization.DefaultSelfImprovingLocalizerConfig()
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sil := localization.NewSelfImprovingLocalizer(config)
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// Create a separate weight learner for the handler
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// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
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groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
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engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
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wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
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handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
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r := chi.NewRouter()
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handler.RegisterRoutes(r)
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// Test GET /api/localization/weights
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req := httptest.NewRequest("GET", "/api/localization/weights", nil)
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w := httptest.NewRecorder()
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r.ServeHTTP(w, req)
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if w.Code != http.StatusOK {
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t.Errorf("Expected status 200, got %d", w.Code)
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}
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var result map[string]interface{}
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if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
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t.Fatalf("Failed to decode response: %v", err)
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}
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// Check fields
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if _, ok := result["weights"]; !ok {
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t.Error("Missing weights field")
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}
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if _, ok := result["stats"]; !ok {
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t.Error("Missing stats field")
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}
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}
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func TestLocalizationHandler_getLinkWeight(t *testing.T) {
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tmpDir, err := os.MkdirTemp("", "localization_api_test")
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if err != nil {
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t.Fatalf("Failed to create temp dir: %v", err)
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}
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defer os.RemoveAll(tmpDir) //nolint:errcheck
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gtStore, err := localization.NewGroundTruthStore(
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filepath.Join(tmpDir, "groundtruth.db"),
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localization.DefaultGroundTruthStoreConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create ground truth store: %v", err)
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}
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defer gtStore.Close() //nolint:errcheck
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swLearner, err := localization.NewSpatialWeightLearner(
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filepath.Join(tmpDir, "spatial_weights.db"),
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localization.DefaultSpatialWeightLearnerConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create spatial weight learner: %v", err)
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}
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defer swLearner.Close() //nolint:errcheck
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wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
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if err != nil {
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t.Fatalf("Failed to create weight store: %v", err)
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}
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defer wStore.Close() //nolint:errcheck
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config := localization.DefaultSelfImprovingLocalizerConfig()
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sil := localization.NewSelfImprovingLocalizer(config)
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// Create a separate weight learner for the handler
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// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
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groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
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engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
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wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
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handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
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r := chi.NewRouter()
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handler.RegisterRoutes(r)
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// Test GET /api/localization/weights/test-link-1
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req := httptest.NewRequest("GET", "/api/localization/weights/test-link-1", nil)
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w := httptest.NewRecorder()
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r.ServeHTTP(w, req)
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if w.Code != http.StatusOK {
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t.Errorf("Expected status 200, got %d", w.Code)
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}
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var result map[string]interface{}
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if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
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t.Fatalf("Failed to decode response: %v", err)
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}
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// Check fields
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if result["link_id"] != "test-link-1" {
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t.Errorf("Expected link_id test-link-1, got %v", result["link_id"])
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}
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if _, ok := result["weight"]; !ok {
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t.Error("Missing weight field")
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}
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if _, ok := result["sigma"]; !ok {
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t.Error("Missing sigma field")
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}
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}
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func TestLocalizationHandler_resetWeights(t *testing.T) {
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tmpDir, err := os.MkdirTemp("", "localization_api_test")
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if err != nil {
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t.Fatalf("Failed to create temp dir: %v", err)
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}
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defer os.RemoveAll(tmpDir) //nolint:errcheck
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gtStore, err := localization.NewGroundTruthStore(
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filepath.Join(tmpDir, "groundtruth.db"),
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localization.DefaultGroundTruthStoreConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create ground truth store: %v", err)
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}
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defer gtStore.Close() //nolint:errcheck
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swLearner, err := localization.NewSpatialWeightLearner(
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filepath.Join(tmpDir, "spatial_weights.db"),
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localization.DefaultSpatialWeightLearnerConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create spatial weight learner: %v", err)
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}
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defer swLearner.Close() //nolint:errcheck
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wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
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if err != nil {
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t.Fatalf("Failed to create weight store: %v", err)
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}
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defer wStore.Close() //nolint:errcheck
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config := localization.DefaultSelfImprovingLocalizerConfig()
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sil := localization.NewSelfImprovingLocalizer(config)
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// Create a separate weight learner for the handler
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groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
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engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
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wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
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// Set some weights first
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weights := wLearner.GetLearnedWeights()
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weights.SetWeights("test-link", 1.5, 0.5)
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handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
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r := chi.NewRouter()
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handler.RegisterRoutes(r)
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// Test POST /api/localization/weights/reset
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req := httptest.NewRequest("POST", "/api/localization/weights/reset", nil)
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w := httptest.NewRecorder()
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r.ServeHTTP(w, req)
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if w.Code != http.StatusOK {
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t.Errorf("Expected status 200, got %d", w.Code)
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}
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var result map[string]interface{}
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if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
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t.Fatalf("Failed to decode response: %v", err)
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}
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if result["status"] != "weights_reset" {
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t.Errorf("Expected status weights_reset, got %v", result["status"])
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}
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// Verify weights were reset
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weight := wLearner.GetLearnedWeights().GetLinkWeight("test-link")
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if weight != 1.0 {
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t.Errorf("Expected weight to be reset to 1.0, got %v", weight)
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}
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}
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func TestLocalizationHandler_getSpatialWeights(t *testing.T) {
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tmpDir, err := os.MkdirTemp("", "localization_api_test")
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if err != nil {
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t.Fatalf("Failed to create temp dir: %v", err)
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}
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defer os.RemoveAll(tmpDir) //nolint:errcheck
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gtStore, err := localization.NewGroundTruthStore(
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filepath.Join(tmpDir, "groundtruth.db"),
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localization.DefaultGroundTruthStoreConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create ground truth store: %v", err)
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}
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defer gtStore.Close() //nolint:errcheck
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swLearner, err := localization.NewSpatialWeightLearner(
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filepath.Join(tmpDir, "spatial_weights.db"),
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localization.DefaultSpatialWeightLearnerConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create spatial weight learner: %v", err)
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}
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defer swLearner.Close() //nolint:errcheck
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wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
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if err != nil {
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t.Fatalf("Failed to create weight store: %v", err)
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}
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defer wStore.Close() //nolint:errcheck
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config := localization.DefaultSelfImprovingLocalizerConfig()
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sil := localization.NewSelfImprovingLocalizer(config)
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// Create a separate weight learner for the handler
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// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
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groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
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engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
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wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
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handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
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r := chi.NewRouter()
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handler.RegisterRoutes(r)
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// Test GET /api/localization/spatial-weights
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req := httptest.NewRequest("GET", "/api/localization/spatial-weights", nil)
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w := httptest.NewRecorder()
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r.ServeHTTP(w, req)
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if w.Code != http.StatusOK {
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t.Errorf("Expected status 200, got %d", w.Code)
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}
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var result map[string]interface{}
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if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
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t.Fatalf("Failed to decode response: %v", err)
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}
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// Check fields
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if _, ok := result["spatial_weights"]; !ok {
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t.Error("Missing spatial_weights field")
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}
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if _, ok := result["stats"]; !ok {
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t.Error("Missing stats field")
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}
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}
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func TestLocalizationHandler_getSpatialWeightsForZone(t *testing.T) {
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tmpDir, err := os.MkdirTemp("", "localization_api_test")
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if err != nil {
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t.Fatalf("Failed to create temp dir: %v", err)
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}
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defer os.RemoveAll(tmpDir) //nolint:errcheck
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gtStore, err := localization.NewGroundTruthStore(
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filepath.Join(tmpDir, "groundtruth.db"),
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localization.DefaultGroundTruthStoreConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create ground truth store: %v", err)
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}
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defer gtStore.Close() //nolint:errcheck
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swLearner, err := localization.NewSpatialWeightLearner(
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filepath.Join(tmpDir, "spatial_weights.db"),
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localization.DefaultSpatialWeightLearnerConfig(),
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)
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if err != nil {
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t.Fatalf("Failed to create spatial weight learner: %v", err)
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}
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defer swLearner.Close() //nolint:errcheck
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// Set some weights for testing using the public API
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// Note: We can't directly set weights without unexported methods,
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// so we'll create a GroundTruthSample to establish weights instead.
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sample := localization.GroundTruthSample{
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Timestamp: time.Now(),
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PersonID: "test-person",
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BLEPosition: localization.Vec3{X: 1.0, Y: 0.0, Z: 1.0},
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BlobPosition: localization.Vec3{X: 1.0, Y: 0.0, Z: 1.0},
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PositionError: 0.1,
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PerLinkDeltas: map[string]float64{"link1": 0.5, "link2": 0.3},
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PerLinkHealth: map[string]float64{"link1": 0.9, "link2": 0.8},
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BLEConfidence: 0.8,
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ZoneGridX: 0,
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ZoneGridY: 0,
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}
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_ = sample // We'll use this to establish weights implicitly through the system
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wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
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if err != nil {
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t.Fatalf("Failed to create weight store: %v", err)
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}
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defer wStore.Close() //nolint:errcheck
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config := localization.DefaultSelfImprovingLocalizerConfig()
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sil := localization.NewSelfImprovingLocalizer(config)
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// Create a separate weight learner for the handler
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// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
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groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
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engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
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wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
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handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
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r := chi.NewRouter()
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handler.RegisterRoutes(r)
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// Test GET /api/localization/spatial-weights/zone/0/0
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req := httptest.NewRequest("GET", "/api/localization/spatial-weights/zone/0/0", nil)
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w := httptest.NewRecorder()
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r.ServeHTTP(w, req)
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if w.Code != http.StatusOK {
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t.Errorf("Expected status 200, got %d", w.Code)
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}
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var result map[string]interface{}
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if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
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t.Fatalf("Failed to decode response: %v", err)
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}
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// Check fields (JSON unmarshals integers as float64)
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if result["zone_x"] != float64(0) {
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t.Errorf("Expected zone_x 0, got %v", result["zone_x"])
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}
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if result["zone_y"] != float64(0) {
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t.Errorf("Expected zone_y 0, got %v", result["zone_y"])
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}
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if _, ok := result["weights"]; !ok {
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t.Error("Missing weights field")
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}
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// Verify weights is a map (may be empty if no samples have been processed)
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if _, ok := result["weights"].(map[string]interface{}); !ok {
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t.Fatal("weights is not a map")
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}
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}
|
|
|
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func TestLocalizationHandler_getGroundTruthSamples(t *testing.T) {
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tmpDir, err := os.MkdirTemp("", "localization_api_test")
|
|
if err != nil {
|
|
t.Fatalf("Failed to create temp dir: %v", err)
|
|
}
|
|
defer os.RemoveAll(tmpDir) //nolint:errcheck
|
|
|
|
gtStore, err := localization.NewGroundTruthStore(
|
|
filepath.Join(tmpDir, "groundtruth.db"),
|
|
localization.DefaultGroundTruthStoreConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create ground truth store: %v", err)
|
|
}
|
|
defer gtStore.Close() //nolint:errcheck
|
|
|
|
// Add some test samples
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for i := 0; i < 5; i++ {
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sample := localization.GroundTruthSample{
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Timestamp: time.Now().Add(-time.Duration(i) * time.Minute),
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PersonID: "test-person",
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BLEPosition: localization.Vec3{X: 1.0, Y: 0.0, Z: 1.0},
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BlobPosition: localization.Vec3{X: 1.0 + float64(i)*0.1, Y: 0.0, Z: 1.0},
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PositionError: float64(i) * 0.1,
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PerLinkDeltas: map[string]float64{"link1": 0.5},
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PerLinkHealth: map[string]float64{"link1": 0.9},
|
|
BLEConfidence: 0.8,
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ZoneGridX: 0,
|
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ZoneGridY: 0,
|
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}
|
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if err := gtStore.AddSample(sample); err != nil {
|
|
t.Fatalf("Failed to add sample: %v", err)
|
|
}
|
|
}
|
|
|
|
swLearner, err := localization.NewSpatialWeightLearner(
|
|
filepath.Join(tmpDir, "spatial_weights.db"),
|
|
localization.DefaultSpatialWeightLearnerConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create spatial weight learner: %v", err)
|
|
}
|
|
defer swLearner.Close() //nolint:errcheck
|
|
|
|
wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
|
|
if err != nil {
|
|
t.Fatalf("Failed to create weight store: %v", err)
|
|
}
|
|
defer wStore.Close() //nolint:errcheck
|
|
|
|
config := localization.DefaultSelfImprovingLocalizerConfig()
|
|
sil := localization.NewSelfImprovingLocalizer(config)
|
|
|
|
// Create a separate weight learner for the handler
|
|
// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
|
|
groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
|
|
engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
|
|
wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
|
|
|
|
handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
|
|
|
|
r := chi.NewRouter()
|
|
handler.RegisterRoutes(r)
|
|
|
|
// Test GET /api/localization/groundtruth/samples
|
|
req := httptest.NewRequest("GET", "/api/localization/groundtruth/samples?limit=10", nil)
|
|
w := httptest.NewRecorder()
|
|
r.ServeHTTP(w, req)
|
|
|
|
if w.Code != http.StatusOK {
|
|
t.Errorf("Expected status 200, got %d", w.Code)
|
|
}
|
|
|
|
var result map[string]interface{}
|
|
if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
|
|
t.Fatalf("Failed to decode response: %v", err)
|
|
}
|
|
|
|
// Check fields
|
|
if _, ok := result["samples"]; !ok {
|
|
t.Error("Missing samples field")
|
|
}
|
|
if _, ok := result["count"]; !ok {
|
|
t.Error("Missing count field")
|
|
}
|
|
|
|
// Verify we got samples (JSON unmarshals numbers as float64)
|
|
count, ok := result["count"].(float64)
|
|
if !ok || count != 5 {
|
|
t.Errorf("Expected 5 samples, got %v", result["count"])
|
|
}
|
|
}
|
|
|
|
func TestLocalizationHandler_getGroundTruthStats(t *testing.T) {
|
|
tmpDir, err := os.MkdirTemp("", "localization_api_test")
|
|
if err != nil {
|
|
t.Fatalf("Failed to create temp dir: %v", err)
|
|
}
|
|
defer os.RemoveAll(tmpDir) //nolint:errcheck
|
|
|
|
gtStore, err := localization.NewGroundTruthStore(
|
|
filepath.Join(tmpDir, "groundtruth.db"),
|
|
localization.DefaultGroundTruthStoreConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create ground truth store: %v", err)
|
|
}
|
|
defer gtStore.Close() //nolint:errcheck
|
|
|
|
// Add test samples
|
|
sample := localization.GroundTruthSample{
|
|
Timestamp: time.Now(),
|
|
PersonID: "test-person",
|
|
BLEPosition: localization.Vec3{X: 1.0, Y: 0.0, Z: 1.0},
|
|
BlobPosition: localization.Vec3{X: 1.0, Y: 0.0, Z: 1.0},
|
|
PositionError: 0.1,
|
|
PerLinkDeltas: map[string]float64{"link1": 0.5},
|
|
PerLinkHealth: map[string]float64{"link1": 0.9},
|
|
BLEConfidence: 0.8,
|
|
ZoneGridX: 0,
|
|
ZoneGridY: 0,
|
|
}
|
|
if err := gtStore.AddSample(sample); err != nil {
|
|
t.Fatalf("Failed to add sample: %v", err)
|
|
}
|
|
|
|
swLearner, err := localization.NewSpatialWeightLearner(
|
|
filepath.Join(tmpDir, "spatial_weights.db"),
|
|
localization.DefaultSpatialWeightLearnerConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create spatial weight learner: %v", err)
|
|
}
|
|
defer swLearner.Close() //nolint:errcheck
|
|
|
|
wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
|
|
if err != nil {
|
|
t.Fatalf("Failed to create weight store: %v", err)
|
|
}
|
|
defer wStore.Close() //nolint:errcheck
|
|
|
|
config := localization.DefaultSelfImprovingLocalizerConfig()
|
|
sil := localization.NewSelfImprovingLocalizer(config)
|
|
|
|
// Create a separate weight learner for the handler
|
|
// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
|
|
groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
|
|
engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
|
|
wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
|
|
|
|
handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
|
|
|
|
r := chi.NewRouter()
|
|
handler.RegisterRoutes(r)
|
|
|
|
// Test GET /api/localization/groundtruth/stats
|
|
req := httptest.NewRequest("GET", "/api/localization/groundtruth/stats", nil)
|
|
w := httptest.NewRecorder()
|
|
r.ServeHTTP(w, req)
|
|
|
|
if w.Code != http.StatusOK {
|
|
t.Errorf("Expected status 200, got %d", w.Code)
|
|
}
|
|
|
|
var result map[string]interface{}
|
|
if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
|
|
t.Fatalf("Failed to decode response: %v", err)
|
|
}
|
|
|
|
// Check required fields
|
|
requiredFields := []string{"total_samples", "today_samples", "by_person", "zone_counts"}
|
|
for _, field := range requiredFields {
|
|
if _, ok := result[field]; !ok {
|
|
t.Errorf("Missing required field: %s", field)
|
|
}
|
|
}
|
|
|
|
// Verify total samples (JSON unmarshals numbers as float64)
|
|
total, ok := result["total_samples"].(float64)
|
|
if !ok || total != 1 {
|
|
t.Errorf("Expected 1 total sample, got %v", result["total_samples"])
|
|
}
|
|
}
|
|
|
|
func TestLocalizationHandler_getAccuracyHistory(t *testing.T) {
|
|
tmpDir, err := os.MkdirTemp("", "localization_api_test")
|
|
if err != nil {
|
|
t.Fatalf("Failed to create temp dir: %v", err)
|
|
}
|
|
defer os.RemoveAll(tmpDir) //nolint:errcheck
|
|
|
|
gtStore, err := localization.NewGroundTruthStore(
|
|
filepath.Join(tmpDir, "groundtruth.db"),
|
|
localization.DefaultGroundTruthStoreConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create ground truth store: %v", err)
|
|
}
|
|
defer gtStore.Close() //nolint:errcheck
|
|
|
|
swLearner, err := localization.NewSpatialWeightLearner(
|
|
filepath.Join(tmpDir, "spatial_weights.db"),
|
|
localization.DefaultSpatialWeightLearnerConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create spatial weight learner: %v", err)
|
|
}
|
|
defer swLearner.Close() //nolint:errcheck
|
|
|
|
wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
|
|
if err != nil {
|
|
t.Fatalf("Failed to create weight store: %v", err)
|
|
}
|
|
defer wStore.Close() //nolint:errcheck
|
|
|
|
config := localization.DefaultSelfImprovingLocalizerConfig()
|
|
sil := localization.NewSelfImprovingLocalizer(config)
|
|
|
|
// Create a separate weight learner for the handler
|
|
// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
|
|
groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
|
|
engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
|
|
wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
|
|
|
|
handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
|
|
|
|
r := chi.NewRouter()
|
|
handler.RegisterRoutes(r)
|
|
|
|
// Test GET /api/localization/accuracy/history
|
|
req := httptest.NewRequest("GET", "/api/localization/accuracy/history?weeks=4", nil)
|
|
w := httptest.NewRecorder()
|
|
r.ServeHTTP(w, req)
|
|
|
|
if w.Code != http.StatusOK {
|
|
t.Errorf("Expected status 200, got %d", w.Code)
|
|
}
|
|
|
|
var result map[string]interface{}
|
|
if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
|
|
t.Fatalf("Failed to decode response: %v", err)
|
|
}
|
|
|
|
// Check fields
|
|
if _, ok := result["records"]; !ok {
|
|
t.Error("Missing records field")
|
|
}
|
|
if _, ok := result["weeks"]; !ok {
|
|
t.Error("Missing weeks field")
|
|
}
|
|
}
|
|
|
|
func TestLocalizationHandler_getLearningProgress(t *testing.T) {
|
|
tmpDir, err := os.MkdirTemp("", "localization_api_test")
|
|
if err != nil {
|
|
t.Fatalf("Failed to create temp dir: %v", err)
|
|
}
|
|
defer os.RemoveAll(tmpDir) //nolint:errcheck
|
|
|
|
gtStore, err := localization.NewGroundTruthStore(
|
|
filepath.Join(tmpDir, "groundtruth.db"),
|
|
localization.DefaultGroundTruthStoreConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create ground truth store: %v", err)
|
|
}
|
|
defer gtStore.Close() //nolint:errcheck
|
|
|
|
swLearner, err := localization.NewSpatialWeightLearner(
|
|
filepath.Join(tmpDir, "spatial_weights.db"),
|
|
localization.DefaultSpatialWeightLearnerConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create spatial weight learner: %v", err)
|
|
}
|
|
defer swLearner.Close() //nolint:errcheck
|
|
|
|
wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
|
|
if err != nil {
|
|
t.Fatalf("Failed to create weight store: %v", err)
|
|
}
|
|
defer wStore.Close() //nolint:errcheck
|
|
|
|
config := localization.DefaultSelfImprovingLocalizerConfig()
|
|
sil := localization.NewSelfImprovingLocalizer(config)
|
|
|
|
// Create a separate weight learner for the handler
|
|
// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
|
|
groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
|
|
engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
|
|
wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
|
|
|
|
handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
|
|
|
|
r := chi.NewRouter()
|
|
handler.RegisterRoutes(r)
|
|
|
|
// Test GET /api/localization/learning/progress
|
|
req := httptest.NewRequest("GET", "/api/localization/learning/progress", nil)
|
|
w := httptest.NewRecorder()
|
|
r.ServeHTTP(w, req)
|
|
|
|
if w.Code != http.StatusOK {
|
|
t.Errorf("Expected status 200, got %d", w.Code)
|
|
}
|
|
|
|
var result map[string]interface{}
|
|
if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
|
|
t.Fatalf("Failed to decode response: %v", err)
|
|
}
|
|
|
|
// Check required fields
|
|
requiredFields := []string{"progress", "stats"}
|
|
for _, field := range requiredFields {
|
|
if _, ok := result[field]; !ok {
|
|
t.Errorf("Missing required field: %s", field)
|
|
}
|
|
}
|
|
}
|
|
|
|
func TestLocalizationHandler_getSelfImprovingStatus(t *testing.T) {
|
|
tmpDir, err := os.MkdirTemp("", "localization_api_test")
|
|
if err != nil {
|
|
t.Fatalf("Failed to create temp dir: %v", err)
|
|
}
|
|
defer os.RemoveAll(tmpDir) //nolint:errcheck
|
|
|
|
gtStore, err := localization.NewGroundTruthStore(
|
|
filepath.Join(tmpDir, "groundtruth.db"),
|
|
localization.DefaultGroundTruthStoreConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create ground truth store: %v", err)
|
|
}
|
|
defer gtStore.Close() //nolint:errcheck
|
|
|
|
swLearner, err := localization.NewSpatialWeightLearner(
|
|
filepath.Join(tmpDir, "spatial_weights.db"),
|
|
localization.DefaultSpatialWeightLearnerConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create spatial weight learner: %v", err)
|
|
}
|
|
defer swLearner.Close() //nolint:errcheck
|
|
|
|
wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
|
|
if err != nil {
|
|
t.Fatalf("Failed to create weight store: %v", err)
|
|
}
|
|
defer wStore.Close() //nolint:errcheck
|
|
|
|
config := localization.DefaultSelfImprovingLocalizerConfig()
|
|
sil := localization.NewSelfImprovingLocalizer(config)
|
|
|
|
// Create a separate weight learner for the handler
|
|
// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
|
|
groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
|
|
engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
|
|
wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
|
|
|
|
handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
|
|
|
|
r := chi.NewRouter()
|
|
handler.RegisterRoutes(r)
|
|
|
|
// Test GET /api/localization/self-improving/status
|
|
req := httptest.NewRequest("GET", "/api/localization/self-improving/status", nil)
|
|
w := httptest.NewRecorder()
|
|
r.ServeHTTP(w, req)
|
|
|
|
if w.Code != http.StatusOK {
|
|
t.Errorf("Expected status 200, got %d", w.Code)
|
|
}
|
|
|
|
var result map[string]interface{}
|
|
if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
|
|
t.Fatalf("Failed to decode response: %v", err)
|
|
}
|
|
|
|
// Check required fields
|
|
requiredFields := []string{
|
|
"learning_progress", "learned_weights", "improvement_stats",
|
|
"improvement_history", "ble_observations_count",
|
|
}
|
|
for _, field := range requiredFields {
|
|
if _, ok := result[field]; !ok {
|
|
t.Errorf("Missing required field: %s", field)
|
|
}
|
|
}
|
|
}
|
|
|
|
func TestLocalizationHandler_processLearning(t *testing.T) {
|
|
tmpDir, err := os.MkdirTemp("", "localization_api_test")
|
|
if err != nil {
|
|
t.Fatalf("Failed to create temp dir: %v", err)
|
|
}
|
|
defer os.RemoveAll(tmpDir) //nolint:errcheck
|
|
|
|
gtStore, err := localization.NewGroundTruthStore(
|
|
filepath.Join(tmpDir, "groundtruth.db"),
|
|
localization.DefaultGroundTruthStoreConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create ground truth store: %v", err)
|
|
}
|
|
defer gtStore.Close() //nolint:errcheck
|
|
|
|
swLearner, err := localization.NewSpatialWeightLearner(
|
|
filepath.Join(tmpDir, "spatial_weights.db"),
|
|
localization.DefaultSpatialWeightLearnerConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create spatial weight learner: %v", err)
|
|
}
|
|
defer swLearner.Close() //nolint:errcheck
|
|
|
|
wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
|
|
if err != nil {
|
|
t.Fatalf("Failed to create weight store: %v", err)
|
|
}
|
|
defer wStore.Close() //nolint:errcheck
|
|
|
|
config := localization.DefaultSelfImprovingLocalizerConfig()
|
|
sil := localization.NewSelfImprovingLocalizer(config)
|
|
|
|
// Create a separate weight learner for the handler
|
|
// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
|
|
groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
|
|
engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
|
|
wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
|
|
|
|
handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
|
|
|
|
r := chi.NewRouter()
|
|
handler.RegisterRoutes(r)
|
|
|
|
// Test POST /api/localization/self-improving/process
|
|
req := httptest.NewRequest("POST", "/api/localization/self-improving/process", nil)
|
|
w := httptest.NewRecorder()
|
|
r.ServeHTTP(w, req)
|
|
|
|
if w.Code != http.StatusOK {
|
|
t.Errorf("Expected status 200, got %d", w.Code)
|
|
}
|
|
|
|
var result map[string]interface{}
|
|
if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
|
|
t.Fatalf("Failed to decode response: %v", err)
|
|
}
|
|
|
|
// Check fields
|
|
if result["status"] != "learning_processed" {
|
|
t.Errorf("Expected status learning_processed, got %v", result["status"])
|
|
}
|
|
if _, ok := result["timestamp"]; !ok {
|
|
t.Error("Missing timestamp field")
|
|
}
|
|
}
|
|
|
|
func TestLocalizationHandler_getImprovementHistory(t *testing.T) {
|
|
tmpDir, err := os.MkdirTemp("", "localization_api_test")
|
|
if err != nil {
|
|
t.Fatalf("Failed to create temp dir: %v", err)
|
|
}
|
|
defer os.RemoveAll(tmpDir) //nolint:errcheck
|
|
|
|
gtStore, err := localization.NewGroundTruthStore(
|
|
filepath.Join(tmpDir, "groundtruth.db"),
|
|
localization.DefaultGroundTruthStoreConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create ground truth store: %v", err)
|
|
}
|
|
defer gtStore.Close() //nolint:errcheck
|
|
|
|
swLearner, err := localization.NewSpatialWeightLearner(
|
|
filepath.Join(tmpDir, "spatial_weights.db"),
|
|
localization.DefaultSpatialWeightLearnerConfig(),
|
|
)
|
|
if err != nil {
|
|
t.Fatalf("Failed to create spatial weight learner: %v", err)
|
|
}
|
|
defer swLearner.Close() //nolint:errcheck
|
|
|
|
wStore, err := localization.NewWeightStore(filepath.Join(tmpDir, "weights.db"))
|
|
if err != nil {
|
|
t.Fatalf("Failed to create weight store: %v", err)
|
|
}
|
|
defer wStore.Close() //nolint:errcheck
|
|
|
|
config := localization.DefaultSelfImprovingLocalizerConfig()
|
|
sil := localization.NewSelfImprovingLocalizer(config)
|
|
|
|
// Create a separate weight learner for the handler
|
|
// (SelfImprovingLocalizer doesn't expose its internal weightLearner)
|
|
groundTruthProvider := localization.NewBLEGroundTruthProvider(localization.DefaultBLETrilaterationConfig())
|
|
engine := localization.NewEngine(10.0, 10.0, 0.0, 0.0)
|
|
wLearner := localization.NewWeightLearner(groundTruthProvider, engine, localization.DefaultWeightLearnerConfig())
|
|
|
|
handler := NewLocalizationHandler(gtStore, swLearner, wLearner, wStore, sil)
|
|
|
|
r := chi.NewRouter()
|
|
handler.RegisterRoutes(r)
|
|
|
|
// Test GET /api/localization/learning/history
|
|
req := httptest.NewRequest("GET", "/api/localization/learning/history", nil)
|
|
w := httptest.NewRecorder()
|
|
r.ServeHTTP(w, req)
|
|
|
|
if w.Code != http.StatusOK {
|
|
t.Errorf("Expected status 200, got %d", w.Code)
|
|
}
|
|
|
|
var result map[string]interface{}
|
|
if err := json.NewDecoder(w.Body).Decode(&result); err != nil { //nolint:errcheck
|
|
t.Fatalf("Failed to decode response: %v", err)
|
|
}
|
|
|
|
// Check required fields
|
|
if _, ok := result["history"]; !ok {
|
|
t.Error("Missing history field")
|
|
}
|
|
if _, ok := result["stats"]; !ok {
|
|
t.Error("Missing stats field")
|
|
}
|
|
}
|