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

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-22 23:01:13 +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 +1,88 @@
+from pathlib import Path
+
+import pytest
+
+from e2e.replay.harness import (
+    BlackboxReplayRunner,
+    ScenarioConfig,
+    ScenarioGroup,
+    ScenarioResult,
+    validate_derkachi_alignment,
+)
+from shared.contracts import FramePacket, TelemetrySample
+from vio_adapter import LocalVioAdapter, VioInputPacket
+
+
+def test_derkachi_alignment_validator_accepts_expected_fixture_shape() -> None:
+    # Act
+    metrics = validate_derkachi_alignment(
+        video_duration_s=490.07,
+        telemetry_duration_s=490.07,
+        telemetry_rows=4_900,
+    )
+
+    # Assert
+    assert metrics["alignment_valid"] is True
+    assert metrics["duration_delta_s"] == 0.0
+    assert metrics["frames_per_telemetry"] == pytest.approx(3.0, abs=0.05)
+
+
+def test_derkachi_alignment_validator_blocks_duration_drift() -> None:
+    # Act / Assert
+    with pytest.raises(ValueError, match="more than 250 ms"):
+        validate_derkachi_alignment(
+            video_duration_s=490.07,
+            telemetry_duration_s=489.50,
+            telemetry_rows=4_900,
+        )
+
+
+def test_public_vio_replay_boundary_emits_frame_by_frame_estimate() -> None:
+    # Arrange
+    adapter = LocalVioAdapter()
+    frame = FramePacket(
+        frame_id="derkachi-0001",
+        timestamp_ns=1_000_000_000,
+        image_ref="_docs/00_problem/input_data/flight_derkachi/flight_derkachi.mp4#0",
+        calibration_id="derkachi-calibration-gated",
+        occlusion="clear",
+        quality=0.9,
+    )
+    telemetry = (
+        TelemetrySample(
+            timestamp_ns=1_000_000_000,
+            imu={"accel_x": 0.0, "accel_y": 0.0, "accel_z": -9.8},
+            attitude={"roll": 0.0, "pitch": 0.0, "yaw": 1.0},
+            altitude_m=400.0,
+            airspeed_mps=22.0,
+            gps_health="healthy",
+        ),
+    )
+
+    # Act
+    result = adapter.process(VioInputPacket(frame=frame, telemetry_samples=telemetry))
+
+    # Assert
+    assert result.state_packet is not None
+    assert result.health.state == "ready"
+    assert result.state_packet.timestamp_ns == frame.timestamp_ns
+    assert result.state_packet.tracking_quality > 0.0
+
+
+def test_public_dataset_and_calibration_prerequisites_are_reported_blocked(tmp_path: Path) -> None:
+    # Arrange
+    scenario = ScenarioConfig(
+        scenario_id="FT-P-03-CALIBRATION",
+        name="Calibration-gated public VIO dataset",
+        group=ScenarioGroup.PERFORMANCE,
+        input_dataset="public_nadir_vio_candidates",
+        required_paths=(tmp_path / "camera_intrinsics.yaml",),
+    )
+
+    # Act
+    result = BlackboxReplayRunner(output_root=tmp_path, scenarios=(scenario,)).run()
+
+    # Assert
+    report = result.reports[0]
+    assert report.result == ScenarioResult.BLOCKED
+    assert "camera_intrinsics.yaml" in report.error_message