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[AZ-408] [AZ-410] [AZ-411] Batch 69: synth injectors + FT-P-02/03/14
AZ-408 (3pt) — Replace AZ-406 injector scaffolds with concrete generators: - outlier.py: deterministic stride + far-away tile replacement; AC-2 ≥350m offset - blackout_spoof.py: paired video blackout + FC GPS spoof with ≤40ms alignment; AC-4 realistic fix_type/hdop; AC-NEW-8 200-500m inter-spoof deltas - multi_segment.py: ≥3 disjoint windows, ≥30s gaps, ≤25% coverage - fc_proxy.py: timed-splice runtime proxy with pre-activate RuntimeError guard - _common.py: derive_rng + tile-manifest reader + tmpfs helpers - injector_fixtures.py: pytest fixtures wired via runner conftest AZ-410 (3pt) — FT-P-02 cumulative drift between satellite anchors: - anchor_pair_detector.py: AC-1 detection, AC-2/3 pass-fraction, AC-4 monotonicity check, CSV evidence - test_ft_p_02_derkachi_drift.py: scenario gated on upstream helper NotImplementedError (frame_source_replay / fdr_reader / imu_replay) AZ-411 (2pt) — FT-P-03 + FT-P-14 schema + WGS84: - estimate_schema.py: AC-1 schema completeness, AC-2 source-label set containment, AC-3 WGS84 range + int32 1e-7 decode - test_ft_p_03_14_schema_wgs84.py: shared single-image-push scenario Tests: 248 unit tests pass (+91 vs batch 68). Reports: batch_69_report.md, batch_69_review.md (PASS), cumulative_review_batches_67-69_cycle1_report.md (PASS). Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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"""Shared helpers for the AZ-408 runtime synthetic-injection fixture builders.
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Three responsibilities, each kept deliberately small:
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1. **Deterministic seed derivation** — every injector accepts an integer
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``--seed`` flag and must produce bit-identical output across two runs
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for the same ``(seed, density|window_seconds|n_segments)`` pair. The
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shared ``derive_rng()`` helper hashes the inputs into a 64-bit seed,
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so two unrelated injectors don't accidentally share a stream.
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2. **Tile-cache manifest read** — the outlier injector needs to pick a
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"far-away" tile (per AC-3.1: ≥350 m offset). The tile-cache fixture
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(built by AZ-407 / ``e2e/fixtures/tile-cache-builder/builder.py``)
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ships a ``manifest.csv`` with the per-tile ground-truth lat/lon
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derivable from ``(zoom_level, tile_x, tile_y)`` via the slippy-map
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convention. We read the CSV ourselves rather than depending on the
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builder package — that keeps the injectors independently testable
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without a Docker tile-cache volume present.
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3. **Tmpfs scratch root** — AC-6 says "auto-cleared at teardown within
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≤2 s". We expose ``tmpfs_root(run_id, scenario)`` so every injector
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writes under the same predictable parent (``/tmp/<run_id>/<scenario>/``)
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and the pytest fixture wrapper can shutil.rmtree on teardown.
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Public-boundary discipline: this module does NOT import any
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``src/gps_denied_onboard`` symbol.
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"""
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from __future__ import annotations
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import csv
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import hashlib
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import math
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import shutil
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import struct
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from dataclasses import dataclass
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from pathlib import Path
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from typing import Iterable
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import numpy as np
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DEFAULT_SCRATCH_ROOT = Path("/tmp")
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def derive_rng(domain: str, *components: object) -> np.random.Generator:
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"""Stable RNG keyed on ``(domain, components...)``.
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The domain string is a short unique tag per injector (``"outlier"``,
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``"blackout_spoof"``, ``"multi_segment"``); the components are the
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user-visible knobs (seed, density, window_seconds, etc.).
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Two invocations with the same arguments return RNGs that produce the
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same sequence of values. Two invocations with different ``domain`` —
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even with the same ``components`` — produce independent sequences.
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"""
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payload = "|".join((domain,) + tuple(str(c) for c in components))
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digest = hashlib.sha256(payload.encode("ascii")).digest()
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seed64 = struct.unpack(">Q", digest[:8])[0]
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return np.random.default_rng(seed64)
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def tmpfs_root(run_id: str, scenario: str, base: Path | None = None) -> Path:
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"""Return ``<base>/<run_id>/<scenario>/`` (created); used by every injector.
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The pytest fixture wrapper passes ``base = pytest's tmp_path_factory``
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so unit-test runs stay inside the pytest tmp tree rather than ``/tmp``.
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"""
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base = base or DEFAULT_SCRATCH_ROOT
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out = base / run_id / scenario
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out.mkdir(parents=True, exist_ok=True)
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return out
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def cleanup_tmpfs(path: Path) -> None:
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"""``rmtree`` ``path`` if it exists; silent no-op otherwise.
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Called from pytest fixture teardown. Per AC-6 the rm must complete
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within ≤2 s; ``shutil.rmtree`` of a single-scenario directory with a
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few thousand small files reliably finishes in <100 ms.
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"""
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if path.exists():
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shutil.rmtree(path)
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# ---------------------------------------------------------------------------
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# Tile-cache manifest read (AZ-407 schema)
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# ---------------------------------------------------------------------------
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# Slippy-map convention — see e2e/fixtures/tile-cache-builder/builder.py
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# DEFAULT_ZOOM = 18 — these constants are the contract this module relies
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# on (they are NOT imported from the builder to avoid a runtime dependency
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# on the tile-cache-builder package at injector-test time).
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_TILE_SIZE = 256 # px
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@dataclass(frozen=True)
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class TileGtRow:
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"""One row of the tile-cache manifest, with derived lat/lon centre."""
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zoom_level: int
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tile_x: int
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tile_y: int
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capture_date: str
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source: str
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m_per_px: float
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jpeg_path: str
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content_hash: str
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provenance: str
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centre_lat_deg: float
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centre_lon_deg: float
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def _tile_centre_lat_lon(zoom: int, tx: int, ty: int) -> tuple[float, float]:
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"""Slippy XYZ tile centre → (lat_deg, lon_deg).
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Standard Web-Mercator inverse of the (tx, ty) tile origin offset by
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``+0.5`` to get the centre rather than the NW corner.
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"""
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n = 2.0 ** zoom
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lon_deg = (tx + 0.5) / n * 360.0 - 180.0
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lat_rad = math.atan(math.sinh(math.pi * (1 - 2 * (ty + 0.5) / n)))
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lat_deg = math.degrees(lat_rad)
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return lat_deg, lon_deg
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def read_tile_manifest(manifest_csv: Path) -> list[TileGtRow]:
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"""Parse the tile-cache ``manifest.csv`` (AZ-407 schema) into typed rows.
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Each row gets a derived ``(centre_lat_deg, centre_lon_deg)`` computed
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from the slippy tile coordinates — the injectors use this for the
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"far-away crop" geodesic check (AC-2).
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Raises FileNotFoundError when the manifest is missing — the injector
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CLI surfaces this with an explicit "build the tile-cache fixture
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first" message. We do NOT silently fall back to a stub manifest;
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that would hide a misconfigured test run.
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"""
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if not manifest_csv.is_file():
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raise FileNotFoundError(
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f"tile-cache manifest not found at {manifest_csv} — build the "
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"tile-cache fixture first (`./e2e/fixtures/tile-cache-builder/build.sh`)"
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)
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rows: list[TileGtRow] = []
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with manifest_csv.open("r", newline="") as fp:
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reader = csv.DictReader(fp)
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for raw in reader:
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zoom = int(raw["zoom_level"])
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tx = int(raw["tile_x"])
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ty = int(raw["tile_y"])
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lat, lon = _tile_centre_lat_lon(zoom, tx, ty)
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rows.append(
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TileGtRow(
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zoom_level=zoom,
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tile_x=tx,
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tile_y=ty,
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capture_date=raw["capture_date"],
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source=raw["source"],
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m_per_px=float(raw["m_per_px"]),
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jpeg_path=raw["jpeg_path"],
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content_hash=raw["content_hash"],
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provenance=raw["provenance"],
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centre_lat_deg=lat,
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centre_lon_deg=lon,
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)
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)
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if not rows:
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raise ValueError(f"tile-cache manifest at {manifest_csv} is empty")
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return rows
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def haversine_m(lat1: float, lon1: float, lat2: float, lon2: float) -> float:
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"""Great-circle distance in meters (Haversine).
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Used by the injector "far-away" check. We deliberately re-implement
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rather than importing ``runner.helpers.geo.distance_m`` — the
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injectors must work without pyproj installed (the project's
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``[dev]`` extra installs pyproj, but the injectors run inside
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minimal Docker images and on bare ground stations).
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"""
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R = 6_371_000.0
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p1 = math.radians(lat1)
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p2 = math.radians(lat2)
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dp = math.radians(lat2 - lat1)
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dl = math.radians(lon2 - lon1)
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a = math.sin(dp / 2) ** 2 + math.cos(p1) * math.cos(p2) * math.sin(dl / 2) ** 2
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return float(2 * R * math.asin(math.sqrt(a)))
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def far_away_indices(
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rows: list[TileGtRow],
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src_idx: int,
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min_offset_m: float,
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) -> list[int]:
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"""Return indices of rows whose centre is ≥ ``min_offset_m`` from ``src_idx``."""
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src = rows[src_idx]
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return [
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j
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for j, r in enumerate(rows)
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if j != src_idx
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and haversine_m(src.centre_lat_deg, src.centre_lon_deg, r.centre_lat_deg, r.centre_lon_deg)
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>= min_offset_m
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]
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# ---------------------------------------------------------------------------
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# Tiny utilities
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# ---------------------------------------------------------------------------
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def iter_video_frame_indices(total_frames: int, density_ratio: float) -> Iterable[int]:
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"""Yield 1-of-N frame indices for the requested density ratio.
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Density is the fraction of frames replaced; e.g., ``density_ratio=0.1``
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means every 10th frame (deterministic stride, NOT random sampling) —
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we keep the stride deterministic so the unit test's "X-th frame is
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replaced" assertion stays stable.
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"""
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if not 0 < density_ratio <= 1.0:
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raise ValueError(f"density_ratio must be in (0, 1]; got {density_ratio}")
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stride = max(1, round(1 / density_ratio))
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return range(0, total_frames, stride)
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