[AZ-219] [AZ-228] Generalize VIO component layout

Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.

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

_docs/02_document/components/02_vio_adapter/tests.md

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+# Test Specification — VIO Adapter
+
+## Acceptance Criteria Traceability
+
+| AC ID | Acceptance Criterion | Test IDs | Coverage |
+|-------|---------------------|----------|----------|
+| AC-1.3 | Drift between anchors and anchor-age reporting input | IT-02, AT-01 | Covered |
+| AC-2.1a | >95% VO registration on normal segments | IT-01, AT-01 | Covered |
+| AC-2.2 | <1.0 px VO MRE | IT-01 | Covered |
+| AC-3.1 | Handles 350 m outliers/tilt | IT-03 | Covered |
+| AC-3.2 | Sharp turns trigger relocalization path | IT-04 | Covered |
+| AC-3.4 | Loss threshold feeds relocalization/dead reckoning | IT-04 | Covered |
+| AC-4.1 | Hot-path latency | PT-01 | Covered |
+| AC-4.2 | Jetson memory budget | PT-01 | Covered |
+
+## Blackbox Tests
+
+### IT-01: Public Dataset VIO Replay
+
+**Summary**: Verify the VIO adapter produces relative motion for synchronized camera/IMU replay.
+
+**Traces to**: AC-2.1a, AC-2.2
+
+**Input data**: Derkachi cropped nadir video + `SCALED_IMU2` + `GLOBAL_POSITION_INT`, MUN-FRL preferred slice, or representative synchronized nav-camera + IMU + ground truth.
+
+**Expected result**: VO registration succeeds for >95% of normal usable frames; frame-to-frame MRE <1.0 px where ground-truth/feature evaluation supports it. Derkachi runs are accepted as calibration-limited until intrinsics, distortion, and camera-to-body transform are pinned.
+
+**Max execution time**: Dataset-dependent; report per-frame latency.
+
+**Dependencies**: Camera ingest, MAVLink telemetry/replay, calibration fixtures.
+
+---
+
+### IT-02: Relative Drift Reporting
+
+**Summary**: Verify adapter emits state needed for wrapper drift and anchor-age accounting.
+
+**Traces to**: AC-1.3
+
+**Input data**: Segment with two known satellite anchors and IMU samples.
+
+**Expected result**: Adapter emits continuous `VioStatePacket` values with timestamps and quality, enabling wrapper to compare VO extrapolation to next anchor.
+
+**Max execution time**: Dataset-dependent.
+
+**Dependencies**: Safety wrapper test harness.
+
+---
+
+### IT-03: Tilt/Outlier Robustness
+
+**Summary**: Verify adapter reports degraded tracking without false success under tilt/outlier cases.
+
+**Traces to**: AC-3.1
+
+**Input data**: Replay segment with synthetic +/-20 degree tilt and up to 350 m apparent outlier.
+
+**Expected result**: Adapter either tracks with quality metadata or emits `TrackingLost`; it never hides a failure as high-quality VIO.
+
+**Max execution time**: 15 minutes per fixture.
+
+---
+
+### IT-04: Sharp Turn / Loss Signal
+
+**Summary**: Verify sharp turns and disconnected visual overlap produce wrapper-visible failure signals.
+
+**Traces to**: AC-3.2, AC-3.4
+
+**Input data**: <5% overlap sequence with heading change <70 degrees.
+
+**Expected result**: Adapter emits low tracking quality or `TrackingLost` within the loss window, allowing relocalization trigger.
+
+**Max execution time**: 10 minutes.
+
+## Performance Tests
+
+### PT-01: VIO Adapter Runtime Budget
+
+**Summary**: Verify VIO processing does not consume the full <400 ms system p95 budget.
+
+**Traces to**: AC-4.1, AC-4.2
+
+**Load scenario**:
+- Input: Derkachi synchronized replay and public/representative replay.
+- Duration: 30 minutes plus release long-run slice.
+- Target: Jetson Orin Nano Super.
+
+| Metric | Target | Failure Threshold |
+|--------|--------|-------------------|
+| Adapter p95 latency | <=250 ms | >300 ms |
+| Memory contribution | <=3 GB | >4 GB |
+| Tracking failure on normal segments | <5% | >=5% |
+
+**Resource limits**: Total system memory remains below 8 GB.
+
+## Security Tests
+
+### ST-01: Timestamp Injection Rejection
+
+**Summary**: Verify malformed or non-monotonic timestamps do not produce trusted VIO state.
+
+**Traces to**: AC-NEW-4
+
+**Attack vector**: Replay or telemetry timestamp manipulation.
+
+**Test procedure**:
+1. Feed non-monotonic frame and IMU timestamps.
+2. Observe adapter output.
+
+**Expected behavior**: Adapter returns `TimestampMismatch` or low-quality failure; wrapper does not trust the state.
+
+**Pass criteria**: No high-quality VIO state is emitted from malformed timing.
+
+## Acceptance Tests
+
+### AT-01: Normal VIO State Contract
+
+**Summary**: Confirm adapter output contract supports downstream localization.
+
+**Traces to**: AC-1.3, AC-2.1a
+
+| Step | Action | Expected Result |
+|------|--------|-----------------|
+| 1 | Initialize with calibrated frame/IMU config | `VioInitResult` succeeds |
+| 2 | Replay normal frames | `VioStatePacket` includes timestamp, relative pose, velocity, tracking quality |
+| 3 | End segment | State stream is continuous enough for wrapper drift accounting |
+
+## Test Data Management
+
+| Data Set | Description | Source | Size |
+|----------|-------------|--------|------|
+| `derkachi_video_telemetry` | Cropped nadir MP4 + synchronized IMU and `GLOBAL_POSITION_INT` trajectory | Project fixture | ~282 MB video + CSV |
+| `public_nadir_vio_candidates` | MUN-FRL/ALTO/Kagaru/EPFL slices | Public pinned fixtures | Dataset-dependent |
+| `representative_sync_replay` | Target camera + FC IMU + calibrated ground truth | Project collection | TBD |
+
+**Setup procedure**: Pin calibration/extrinsics and mount read-only synchronized replay data.
+
+**Teardown procedure**: Remove generated result reports and adapter temp state.
+
+**Data isolation strategy**: One run directory per dataset slice and configuration hash.