[AZ-416] [AZ-417] [AZ-419] Test batch 72: FT-P-09 AP/iNav + FT-P-11 cold start

- AZ-416 (FT-P-09-AP): fills mavproxy_tlog_reader.iter_messages with pymavlink body (AZ-406 surface kept); adds ap_contract_evaluator covering AC-1 (signing handshake <=5s), AC-2 (GPS_INPUT >=4.5 Hz), AC-3 (EK3_SRC1_POSXY=3), AC-4 (GPS_RAW_INT health >=80%); scenario forces fc_adapter=ardupilot. - AZ-417 (FT-P-09-iNav): msp_frame_observer covering AC-2 (MSP rate) and AC-3 (fix_type/provider/numSat); scenario forces fc_adapter=inav. - AZ-419 (FT-P-11): cold_start_evaluator covering AC-1 (operator manifest origin), AC-2 (FC EKF fallback), AC-3 (no-origin abort), AC-4 (bounded-delta conflict, ADR-010 Principle #11 amended); scenario parametrized on origin_source plus dedicated no-origin abort scenario. - All scenarios skip-gated on upstream frame_source_replay / imu_replay / fdr_reader / sitl_observer extensions. - +67 unit tests; full e2e unit suite: 460 passed. - K=3 cumulative review fired: PASS for batches 70-72. See _docs/03_implementation/batch_72_report.md, _docs/03_implementation/reviews/batch_72_review.md, _docs/03_implementation/cumulative_review_batches_70-72_cycle1_report.md. Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-22 09:01:14 +00:00 · 2026-05-17 07:49:17 +03:00
parent c6e6cba237
commit a644debdb7
19 changed files with 3041 additions and 9 deletions
@@ -0,0 +1,180 @@
+"""Unit tests for ``runner.helpers.mavproxy_tlog_reader.iter_messages``.
+
+AZ-416 fills in the pymavlink-backed body; AZ-406 committed the public
+surface. These tests synthesise a tiny tlog on the fly so the parser
+can be exercised without needing a captured `.tlog` artifact.
+"""
+
+from __future__ import annotations
+
+import struct
+from pathlib import Path
+
+import pytest
+from pymavlink.dialects.v20 import ardupilotmega as mavlink
+
+from runner.helpers.mavproxy_tlog_reader import (
+    TlogMessage,
+    count_by_type,
+    iter_messages,
+)
+
+_SRC_SYSTEM = 1
+_SRC_COMPONENT = mavlink.MAV_COMP_ID_AUTOPILOT1
+_BASE_TS_US = 1_700_000_000_000_000
+
+
+def _write_tlog(tlog_path: Path, records: list[tuple[int, bytes]]) -> Path:
+    """Write a synthetic tlog: ``[8B big-endian ts_us][raw frame]`` per record."""
+    with tlog_path.open("wb") as fh:
+        for ts_us, payload in records:
+            fh.write(struct.pack(">Q", ts_us))
+            fh.write(payload)
+    return tlog_path
+
+
+def _make_mav() -> mavlink.MAVLink:
+    return mavlink.MAVLink(
+        file=None,
+        srcSystem=_SRC_SYSTEM,
+        srcComponent=_SRC_COMPONENT,
+    )
+
+
+def _heartbeat(mav: mavlink.MAVLink) -> bytes:
+    return mav.heartbeat_encode(
+        type=mavlink.MAV_TYPE_FIXED_WING,
+        autopilot=mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA,
+        base_mode=mavlink.MAV_MODE_FLAG_AUTO_ENABLED,
+        custom_mode=10,
+        system_status=mavlink.MAV_STATE_ACTIVE,
+    ).pack(mav)
+
+
+def _gps_raw_int(mav: mavlink.MAVLink, *, fix_type: int = 3, eph: int = 100) -> bytes:
+    return mav.gps_raw_int_encode(
+        time_usec=_BASE_TS_US,
+        fix_type=fix_type,
+        lat=487750000,
+        lon=375940000,
+        alt=280000,
+        eph=eph,
+        epv=200,
+        vel=12000,
+        cog=18000,
+        satellites_visible=12,
+    ).pack(mav)
+
+
+def _gps_input(mav: mavlink.MAVLink) -> bytes:
+    return mav.gps_input_encode(
+        time_usec=_BASE_TS_US,
+        gps_id=0,
+        ignore_flags=0,
+        time_week_ms=0,
+        time_week=0,
+        fix_type=3,
+        lat=487750000,
+        lon=375940000,
+        alt=280.0,
+        hdop=1.0,
+        vdop=2.0,
+        vn=10.0,
+        ve=5.0,
+        vd=0.5,
+        speed_accuracy=0.3,
+        horiz_accuracy=1.0,
+        vert_accuracy=2.0,
+        satellites_visible=12,
+    ).pack(mav)
+
+
+def test_iter_messages_raises_on_missing_file(tmp_path: Path) -> None:
+    # Act / Assert
+    with pytest.raises(FileNotFoundError, match="tlog not found"):
+        list(iter_messages(tmp_path / "absent.tlog"))
+
+
+def test_iter_messages_yields_message_type_and_fields(tmp_path: Path) -> None:
+    """A single heartbeat round-trips through iter_messages."""
+    # Arrange
+    mav = _make_mav()
+    tlog = _write_tlog(tmp_path / "single.tlog", [(_BASE_TS_US, _heartbeat(mav))])
+
+    # Act
+    msgs = list(iter_messages(tlog))
+
+    # Assert
+    assert len(msgs) == 1
+    m = msgs[0]
+    assert isinstance(m, TlogMessage)
+    assert m.msg_type == "HEARTBEAT"
+    assert m.fields["autopilot"] == mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA
+    assert "mavpackettype" not in m.fields  # excluded by the impl
+
+
+def test_iter_messages_preserves_order(tmp_path: Path) -> None:
+    """Multiple records are yielded oldest-first."""
+    # Arrange
+    mav = _make_mav()
+    tlog = _write_tlog(
+        tmp_path / "ordered.tlog",
+        [
+            (_BASE_TS_US + 0, _heartbeat(mav)),
+            (_BASE_TS_US + 1_000_000, _gps_raw_int(mav)),
+            (_BASE_TS_US + 2_000_000, _gps_input(mav)),
+        ],
+    )
+
+    # Act
+    types = [m.msg_type for m in iter_messages(tlog)]
+
+    # Assert
+    assert types == ["HEARTBEAT", "GPS_RAW_INT", "GPS_INPUT"]
+
+
+def test_iter_messages_timestamp_in_microseconds(tmp_path: Path) -> None:
+    """``msg._timestamp`` is seconds; we expose microseconds."""
+    # Arrange
+    mav = _make_mav()
+    tlog = _write_tlog(tmp_path / "ts.tlog", [(_BASE_TS_US + 5_000_000, _heartbeat(mav))])
+
+    # Act
+    msg = next(iter_messages(tlog))
+
+    # Assert — pymavlink rounds to its frame timestamp; tolerate ±1ms slop.
+    assert abs(msg.timestamp_us - (_BASE_TS_US + 5_000_000)) <= 1_000
+
+
+def test_iter_messages_signed_flag_default_false(tmp_path: Path) -> None:
+    """Plain pymavlink-encoded frame is NOT signed → signed=False."""
+    # Arrange
+    mav = _make_mav()
+    tlog = _write_tlog(tmp_path / "u.tlog", [(_BASE_TS_US, _heartbeat(mav))])
+
+    # Act
+    msg = next(iter_messages(tlog))
+
+    # Assert
+    assert msg.signed is False
+
+
+def test_count_by_type_tallies_correctly(tmp_path: Path) -> None:
+    """count_by_type runs iter_messages and aggregates the type counts."""
+    # Arrange
+    mav = _make_mav()
+    tlog = _write_tlog(
+        tmp_path / "mixed.tlog",
+        [
+            (_BASE_TS_US + 0, _heartbeat(mav)),
+            (_BASE_TS_US + 1, _heartbeat(mav)),
+            (_BASE_TS_US + 2, _gps_raw_int(mav)),
+        ],
+    )
+
+    # Act
+    counts = count_by_type(tlog)
+
+    # Assert
+    assert counts["HEARTBEAT"] == 2
+    assert counts["GPS_RAW_INT"] == 1