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[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>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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"""ArduPilot contract + signing-handshake evaluation for FT-P-09-AP (AZ-416).
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Given the captured ``.tlog`` from ``mavproxy-listener`` plus a single
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EK3_SRC1_POSXY parameter read, this helper validates:
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* AC-1: signing handshake completes within ≤5 s
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(``observe_signing_handshake`` — first signed message within the
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window OR absence of ``BAD_SIGNATURE`` STATUSTEXT during it).
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* AC-2: GPS_INPUT flow at ≥4.5 Hz over the 60 s replay
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(``compute_gps_input_rate``).
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* AC-3: EK3_SRC1_POSXY == 3 (``validate_ek3_src1_posxy`` — pure check
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on the param value the caller fetched via mavproxy).
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* AC-4: GPS_RAW_INT health — ``fix_type ≥ 3`` AND ``eph ≤ 200``
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(HDOP ≤ 2.0) for ≥80 % of the 60 s window
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(``evaluate_gps_raw_int_health``).
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All inputs are pure ``Iterable[TlogMessage]``; the tlog ingestion is
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delegated to ``runner.helpers.mavproxy_tlog_reader.iter_messages``.
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Public-boundary discipline: 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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from dataclasses import dataclass, field
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from typing import Iterable, Sequence
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from .mavproxy_tlog_reader import TlogMessage
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HANDSHAKE_BUDGET_S = 5.0
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GPS_INPUT_TARGET_RATE_HZ = 5.0
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GPS_INPUT_MIN_RATE_HZ = 4.5
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GPS_RAW_INT_MIN_FIX_TYPE = 3
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GPS_RAW_INT_MAX_EPH = 200 # HDOP × 100 ≤ 200 → HDOP ≤ 2.0
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GPS_RAW_INT_HEALTHY_FRACTION_REQUIRED = 0.80
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EK3_SRC1_POSXY_REQUIRED = 3 # AP EKF source-set: 3 = GPS
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@dataclass(frozen=True)
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class HandshakeReport:
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"""AC-1: signing-handshake completion observation."""
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window_start_us: int
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window_end_us: int
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first_signed_us: int | None
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bad_signature_count: int
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setup_signing_seen: bool
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@property
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def lag_s(self) -> float | None:
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if self.first_signed_us is None:
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return None
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return (self.first_signed_us - self.window_start_us) / 1_000_000.0
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@property
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def passes(self) -> bool:
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return (
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self.first_signed_us is not None
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and self.lag_s is not None
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and self.lag_s <= HANDSHAKE_BUDGET_S
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and self.bad_signature_count == 0
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)
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@dataclass(frozen=True)
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class GpsInputRateReport:
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"""AC-2: GPS_INPUT rate over the replay window."""
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frame_count: int
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window_us: int
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observed_rate_hz: float
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target_rate_hz: float = GPS_INPUT_TARGET_RATE_HZ
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min_required_hz: float = GPS_INPUT_MIN_RATE_HZ
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@property
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def passes(self) -> bool:
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return (
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self.window_us > 0
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and self.observed_rate_hz >= self.min_required_hz
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)
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@dataclass(frozen=True)
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class GpsRawIntHealthReport:
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"""AC-4: GPS_RAW_INT fix_type + eph healthy fraction."""
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total_samples: int
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healthy_samples: int
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fraction_required: float = GPS_RAW_INT_HEALTHY_FRACTION_REQUIRED
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@property
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def healthy_fraction(self) -> float:
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if self.total_samples == 0:
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return 0.0
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return self.healthy_samples / self.total_samples
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@property
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def passes(self) -> bool:
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return (
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self.total_samples > 0
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and self.healthy_fraction >= self.fraction_required
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)
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def observe_signing_handshake(
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messages: Iterable[TlogMessage],
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*,
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handshake_window_us: int = int(HANDSHAKE_BUDGET_S * 1_000_000),
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) -> HandshakeReport:
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"""AC-1: first signed message within ``handshake_window_us``.
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The handshake window starts at the FIRST observed message's
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timestamp (the SUT cannot be heard from before that). The result
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PASSES if a signed message arrives within the window AND no
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``STATUSTEXT`` with ``BAD_SIGNATURE`` is observed during it.
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The SETUP_SIGNING handshake exchange itself is unsigned by spec
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(it's how the key is shared), so its presence is reported but does
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NOT gate the pass — the gate is the first SIGNED follow-up.
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"""
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if handshake_window_us <= 0:
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raise ValueError(f"handshake_window_us must be > 0, got {handshake_window_us}")
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window_start: int | None = None
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window_end: int | None = None
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first_signed_us: int | None = None
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bad_sig_count = 0
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setup_signing_seen = False
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for m in messages:
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if window_start is None:
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window_start = m.timestamp_us
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window_end = window_start + handshake_window_us
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if window_end is not None and m.timestamp_us > window_end:
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break
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if m.msg_type == "SETUP_SIGNING":
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setup_signing_seen = True
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if m.signed and first_signed_us is None:
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first_signed_us = m.timestamp_us
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if m.msg_type == "STATUSTEXT":
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text = str(m.fields.get("text", "")).upper()
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if "BAD_SIGNATURE" in text:
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bad_sig_count += 1
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return HandshakeReport(
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window_start_us=window_start or 0,
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window_end_us=window_end or 0,
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first_signed_us=first_signed_us,
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bad_signature_count=bad_sig_count,
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setup_signing_seen=setup_signing_seen,
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)
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def compute_gps_input_rate(
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messages: Iterable[TlogMessage],
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*,
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target_rate_hz: float = GPS_INPUT_TARGET_RATE_HZ,
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min_required_hz: float = GPS_INPUT_MIN_RATE_HZ,
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) -> GpsInputRateReport:
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"""AC-2: GPS_INPUT cadence over the entire message stream."""
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if min_required_hz < 0:
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raise ValueError(f"min_required_hz must be ≥0, got {min_required_hz}")
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timestamps = [m.timestamp_us for m in messages if m.msg_type == "GPS_INPUT"]
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if len(timestamps) < 2:
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return GpsInputRateReport(
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frame_count=len(timestamps),
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window_us=0,
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observed_rate_hz=0.0,
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target_rate_hz=target_rate_hz,
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min_required_hz=min_required_hz,
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)
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window_us = timestamps[-1] - timestamps[0]
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if window_us <= 0:
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return GpsInputRateReport(
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frame_count=len(timestamps),
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window_us=window_us,
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observed_rate_hz=0.0,
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target_rate_hz=target_rate_hz,
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min_required_hz=min_required_hz,
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)
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observed = (len(timestamps) - 1) / (window_us / 1_000_000.0)
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return GpsInputRateReport(
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frame_count=len(timestamps),
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window_us=window_us,
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observed_rate_hz=observed,
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target_rate_hz=target_rate_hz,
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min_required_hz=min_required_hz,
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)
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def validate_ek3_src1_posxy(value: int) -> bool:
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"""AC-3: EK3_SRC1_POSXY must equal 3 (GPS source)."""
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return value == EK3_SRC1_POSXY_REQUIRED
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def evaluate_gps_raw_int_health(
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messages: Iterable[TlogMessage],
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*,
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min_fix_type: int = GPS_RAW_INT_MIN_FIX_TYPE,
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max_eph: int = GPS_RAW_INT_MAX_EPH,
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fraction_required: float = GPS_RAW_INT_HEALTHY_FRACTION_REQUIRED,
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) -> GpsRawIntHealthReport:
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"""AC-4: ≥``fraction_required`` of GPS_RAW_INT samples must be healthy.
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A sample is "healthy" iff ``fix_type ≥ min_fix_type`` AND
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``eph ≤ max_eph``. Both must hold per the spec text.
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"""
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if not 0.0 <= fraction_required <= 1.0:
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raise ValueError(
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f"fraction_required must be in [0, 1], got {fraction_required}"
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)
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total = 0
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healthy = 0
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for m in messages:
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if m.msg_type != "GPS_RAW_INT":
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continue
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total += 1
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try:
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fix_type = int(m.fields["fix_type"]) # type: ignore[arg-type]
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eph = int(m.fields["eph"]) # type: ignore[arg-type]
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except (KeyError, TypeError, ValueError):
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continue
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if fix_type >= min_fix_type and eph <= max_eph:
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healthy += 1
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return GpsRawIntHealthReport(
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total_samples=total,
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healthy_samples=healthy,
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fraction_required=fraction_required,
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)
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def collect_messages_to_list(messages: Iterable[TlogMessage]) -> list[TlogMessage]:
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"""Materialise an iterator into a list — convenience for multi-pass eval.
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The scenario reads the tlog once via ``iter_messages`` and runs
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multiple analyzers over the result. ``iter_messages`` returns a
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generator that closes its underlying pymavlink connection on
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exhaustion, so re-iteration is not safe without materialisation.
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"""
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return list(messages)
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