feat(drone): add RemoteIDScanner with BLE/WiFi ASTM F3411 parsing

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

tests/test_drone_remote_id.py

@@ -0,0 +1,92 @@
+# tests/test_drone_remote_id.py
+import queue
+import struct
+from unittest.mock import MagicMock, patch
+
+from utils.drone.remote_id import RemoteIDScanner, _parse_ble_remote_id, _parse_wifi_remote_id
+
+
+def _make_location_payload(lat=51.5, lon=-0.1, alt=50.0, speed=5.0, heading=90.0) -> bytes:
+    """Craft a minimal ASTM F3411 Location message (message type 0x01)."""
+    msg_type = 0x01
+    status = 0x00
+    lat_enc = int(lat * 1e7)
+    lon_enc = int(lon * 1e7)
+    alt_enc = int((alt + 1000) / 0.5)
+    speed_enc = int(speed / 0.25)
+    heading_enc = int(heading / 0.01)
+    return struct.pack("<BBiiHBH", msg_type, status, lat_enc, lon_enc, alt_enc, speed_enc, heading_enc)
+
+
+def _make_basic_id_payload(serial="SN-TESTSERIAL") -> bytes:
+    msg_type = 0x00
+    id_type = 0x01
+    serial_bytes = serial.encode("ascii").ljust(20, b"\x00")[:20]
+    return bytes([msg_type, id_type]) + serial_bytes
+
+
+def _make_ble_adv_with_remote_id(payload: bytes) -> bytes:
+    uuid_bytes = b"\xfa\xff"
+    service_data_type = 0x16
+    length = len(uuid_bytes) + len(payload) + 1
+    return bytes([length, service_data_type]) + uuid_bytes + payload
+
+
+def test_parse_ble_location_returns_observation():
+    payload = _make_location_payload(lat=51.5, lon=-0.1, alt=50.0, speed=5.0, heading=90.0)
+    adv = _make_ble_adv_with_remote_id(payload)
+    obs = _parse_ble_remote_id(adv)
+    assert obs is not None
+    assert obs.source == "BLE"
+    assert abs(obs.lat - 51.5) < 0.0001
+    assert abs(obs.lon - (-0.1)) < 0.0001
+    assert abs(obs.altitude_m - 50.0) < 1.0
+    assert abs(obs.speed_ms - 5.0) < 0.5
+
+
+def test_parse_ble_no_uuid_returns_none():
+    obs = _parse_ble_remote_id(b"\x00\x01\x02\x03")
+    assert obs is None
+
+
+def test_parse_ble_too_short_returns_none():
+    adv = _make_ble_adv_with_remote_id(b"\x01\x00")
+    obs = _parse_ble_remote_id(adv)
+    assert obs is None
+
+
+def test_parse_wifi_remote_id_returns_observation():
+    payload = _make_location_payload(lat=52.0, lon=0.5)
+    obs = _parse_wifi_remote_id(payload)
+    assert obs is not None
+    assert obs.source == "WIFI"
+    assert abs(obs.lat - 52.0) < 0.0001
+
+
+def test_parse_wifi_non_location_returns_none():
+    payload = _make_basic_id_payload()
+    obs = _parse_wifi_remote_id(payload)
+    assert obs is None
+
+
+def test_scanner_start_stop():
+    q = queue.Queue()
+    scanner = RemoteIDScanner(output_queue=q)
+    with (
+        patch("utils.drone.remote_id.SCAPY_AVAILABLE", True),
+        patch("utils.drone.remote_id.AsyncSniffer") as mock_sniffer,
+    ):
+        mock_sniffer.return_value = MagicMock()
+        scanner.start(wifi_iface="wlan0mon")
+        assert scanner.running
+        scanner.stop()
+        assert not scanner.running
+
+
+def test_scanner_start_without_scapy_still_works():
+    q = queue.Queue()
+    scanner = RemoteIDScanner(output_queue=q)
+    with patch("utils.drone.remote_id.SCAPY_AVAILABLE", False):
+        scanner.start(wifi_iface=None)
+        assert scanner.running
+        scanner.stop()