[AZ-234] [AZ-235] [AZ-236] [AZ-237] Add replay tests

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-22 20:11:14 +00:00 · 2026-05-05 06:24:10 +03:00
parent c30fd4f67d
commit 5acd14b792
12 changed files with 616 additions and 3 deletions
@@ -0,0 +1,117 @@
+from e2e.replay.harness import mavlink_source_is_authorized
+from mavlink_gcs_integration import InMemoryMavlinkGateway, OperatorStatusMessage
+from safety_anchor_wrapper import SafetyAnchorStateMachine, SafetyStateConfig, TelemetryContext
+from shared.contracts import VioStatePacket
+
+
+def test_blackout_trace_transitions_to_dead_reckoned_then_no_fix() -> None:
+    # Arrange
+    state_machine = SafetyAnchorStateMachine(
+        SafetyStateConfig(
+            initial_covariance_m=2.0,
+            dead_reckoning_growth_m=125.0,
+            no_fix_covariance_threshold_m=500.0,
+        )
+    )
+    state_machine.update_vio(
+        VioStatePacket(
+            timestamp_ns=1_000_000_000,
+            relative_pose={"x_m": 0.0},
+            velocity_mps=(0.0, 0.0, 0.0),
+            tracking_quality=0.9,
+            covariance_hint=[[2.0, 0.0], [0.0, 2.0]],
+        ),
+        TelemetryContext(
+            timestamp_ns=1_000_000_000,
+            latitude_hint_deg=48.0,
+            longitude_hint_deg=37.0,
+            altitude_m=400.0,
+        ),
+    )
+
+    # Act
+    snapshots = tuple(
+        state_machine.propagate_blackout(1_000_000_000 + index * 1_000_000_000)
+        for index in range(1, 6)
+    )
+
+    # Assert
+    assert snapshots[0].mode == "dead_reckoned"
+    assert snapshots[-1].mode == "no_fix"
+    covariances = tuple(snapshot.estimate.covariance_semimajor_m for snapshot in snapshots)
+    assert covariances == tuple(sorted(covariances))
+    assert snapshots[-1].estimate.fix_type == 0
+    assert snapshots[-1].estimate.horizontal_accuracy_m >= 999.0
+
+
+def test_no_fix_estimate_is_not_emitted_as_confident_gps_input() -> None:
+    # Arrange
+    state_machine = SafetyAnchorStateMachine(
+        SafetyStateConfig(dead_reckoning_growth_m=600.0, no_fix_covariance_threshold_m=500.0)
+    )
+    gateway = InMemoryMavlinkGateway(status_rate_limit_ns=1_000_000_000)
+    state_machine.update_vio(
+        VioStatePacket(
+            timestamp_ns=1,
+            relative_pose={"x_m": 0.0},
+            velocity_mps=(0.0, 0.0, 0.0),
+            tracking_quality=0.5,
+        ),
+        TelemetryContext(
+            timestamp_ns=1,
+            latitude_hint_deg=48.0,
+            longitude_hint_deg=37.0,
+            altitude_m=400.0,
+        ),
+    )
+    no_fix_snapshot = state_machine.propagate_blackout(2)
+
+    # Act
+    emission = gateway.emit_gps_input(no_fix_snapshot.estimate)
+
+    # Assert
+    assert emission.emitted is False
+    assert emission.error is not None
+    assert "unsafe for GPS_INPUT" in emission.error.message
+
+
+def test_unauthorized_mavlink_sources_are_rejected_by_test_assertion() -> None:
+    # Arrange
+    allowed_source_system_ids = {1, 42}
+
+    # Act / Assert
+    assert mavlink_source_is_authorized(42, allowed_source_system_ids) is True
+    assert mavlink_source_is_authorized(99, allowed_source_system_ids) is False
+
+
+def test_qgc_status_and_fdr_evidence_are_visible_and_rate_limited() -> None:
+    # Arrange
+    gateway = InMemoryMavlinkGateway(status_rate_limit_ns=2_000_000_000)
+    messages = [
+        OperatorStatusMessage(
+            timestamp_ns=1_000_000_000,
+            severity="warning",
+            text="VISUAL_BLACKOUT_IMU_ONLY",
+        ),
+        OperatorStatusMessage(
+            timestamp_ns=2_000_000_000,
+            severity="warning",
+            text="VISUAL_BLACKOUT_IMU_ONLY",
+        ),
+        OperatorStatusMessage(
+            timestamp_ns=4_000_000_000,
+            severity="critical",
+            text="VISUAL_BLACKOUT_FAILSAFE",
+        ),
+    ]
+
+    # Act
+    result = gateway.emit_status(messages)
+
+    # Assert
+    assert [message.text for message in result.emitted] == [
+        "VISUAL_BLACKOUT_IMU_ONLY",
+        "VISUAL_BLACKOUT_FAILSAFE",
+    ]
+    assert len(result.suppressed) == 1
+    assert all(message.visible_to_qgc for message in result.emitted)