add tests

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solution.md updated

docs/03_tests/25_real_time_streaming_pipeline_spec.md

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+# System Integration Test: Real-Time Streaming Pipeline
+
+## Summary
+Validate real-time streaming of results via SSE as images are processed (AC-8 requirement).
+
+## Components Under Test
+- Image Input Pipeline
+- Vision Layers (L1, L2, L3)
+- Factor Graph Optimizer
+- Result Manager
+- SSE Event Streamer
+- Flight Manager
+
+## Test Scenario
+Per AC-8: "Results of image processing should appear immediately to user, so that user shouldn't wait for the whole route to complete."
+
+Test that:
+1. Images uploaded and queued
+2. Processing starts immediately
+3. Results streamed to client < 1s after processing
+4. Refinements sent when trajectory updated
+5. User can analyze early results before flight completes
+
+## Test Cases
+
+### Test Case 1: Immediate Result Delivery
+- Upload 10 images
+- Connect SSE client
+- Measure time from image processed to event received
+- **Target**: < 1 second latency (AC-8 "immediately")
+
+### Test Case 2: Progressive Results
+- Upload 30 images
+- Monitor SSE stream
+- Verify first results available before image 30 processed
+- **Target**: First result within 10 seconds of upload
+
+### Test Case 3: Refinement Notifications
+- Process 20 images
+- New GPS anchor added (image 20)
+- Factor graph refines trajectory for images 1-19
+- Verify "trajectory_refined" event sent
+- **Target**: Refinement notification within 2 seconds
+
+### Test Case 4: Multiple Concurrent Clients
+- 3 clients connect to same flight SSE stream
+- All receive events simultaneously
+- No delays between clients
+- **Target**: All clients receive within 100ms of each other
+
+### Test Case 5: Late-Joining Client
+- Flight already processing (10 images done)
+- New client connects
+- Receives catch-up of existing results plus live stream
+- **Target**: Seamless experience
+
+### Test Case 6: Backpressure Handling
+- Process images rapidly (50 images in 60 seconds)
+- Verify SSE can handle high event rate
+- No event loss or buffer overflow
+- **Target**: All events delivered, no loss
+
+## Success Criteria
+- Result latency < 1 second (AC-8)
+- First results available immediately
+- Refinements streamed when they occur
+- Multiple clients supported
+- No event loss under load
+
+## Maximum Expected Time
+- Setup: < 5 seconds
+- Process 30 images with streaming: < 150 seconds
+- Total test: < 180 seconds
+
+## Pass/Fail Criteria
+**Passes If**: AC-8 requirements met, latency < 1s, refinements streamed, no event loss
+**Fails If**: Latency > 2s, events lost, clients not notified of refinements
+