[AZ-228] [AZ-229] Add VIO and satellite sync boundaries

Co-authored-by: Cursor <cursoragent@cursor.com>

tests/unit/test_vio_adapter.py

@@ -0,0 +1,73 @@
+from shared.contracts import FramePacket, TelemetrySample
+from vio_adapter import LocalVioAdapter, VioInputPacket
+
+
+def _frame(**overrides: object) -> FramePacket:
+    payload: dict[str, object] = {
+        "frame_id": "frame-1",
+        "timestamp_ns": 1_000_000,
+        "image_ref": "replay/frame-1.jpg",
+        "calibration_id": "calib-1",
+        "occlusion": "clear",
+        "quality": 0.85,
+    }
+    payload.update(overrides)
+    return FramePacket.model_validate(payload)
+
+
+def _telemetry(timestamp_ns: int = 1_000_000) -> TelemetrySample:
+    return TelemetrySample(
+        timestamp_ns=timestamp_ns,
+        imu={"accel_x": 0.1, "accel_y": 0.0, "accel_z": 9.8},
+        attitude={"roll": 0.0, "pitch": 0.01, "yaw": 0.02},
+        altitude_m=120.0,
+        airspeed_mps=24.0,
+        gps_health="lost",
+    )
+
+
+def test_valid_synchronized_packet_emits_vio_state() -> None:
+    # Arrange
+    adapter = LocalVioAdapter()
+    packet = VioInputPacket(frame=_frame(), telemetry_samples=(_telemetry(),))
+
+    # Act
+    result = adapter.process(packet)
+
+    # Assert
+    assert result.error is None
+    assert result.state_packet is not None
+    assert result.state_packet.timestamp_ns == 1_000_000
+    assert result.state_packet.tracking_quality == 0.85
+    assert result.health.state == "ready"
+
+
+def test_timestamp_mismatch_is_explicit_validation_error() -> None:
+    # Arrange
+    adapter = LocalVioAdapter(timestamp_tolerance_ns=1_000)
+    packet = VioInputPacket(frame=_frame(), telemetry_samples=(_telemetry(2_000_000),))
+
+    # Act
+    result = adapter.process(packet)
+
+    # Assert
+    assert result.state_packet is None
+    assert result.error is not None
+    assert result.error.component == "vio_adapter"
+    assert result.error.cause == "gap_exceeded"
+    assert result.health.state == "degraded"
+
+
+def test_tracking_loss_degrades_health_without_emitting_absolute_position() -> None:
+    # Arrange
+    adapter = LocalVioAdapter(degraded_quality_threshold=0.35)
+    packet = VioInputPacket(frame=_frame(quality=0.2), telemetry_samples=(_telemetry(),))
+
+    # Act
+    result = adapter.process(packet)
+
+    # Assert
+    assert result.state_packet is not None
+    assert result.health.state == "degraded"
+    assert "latitude_deg" not in result.state_packet.model_dump()
+    assert "longitude_deg" not in result.state_packet.model_dump()