[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 20:11:14 +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 +1,155 @@
+"""MSP2 frame observer for FT-P-09-iNav (AZ-417 / AC-4.3).
+
+iNav consumes MSP2 over a TCP socket on port 5760. The SUT's
+``c8_fc_adapter`` (iNav-side) emits ``MSP2_SENSOR_GPS`` (function ID
+0x1F03) frames at a configured cadence (target 5 Hz per AC-2).
+
+This helper owns the pure-logic side of FT-P-09-iNav:
+
+* ``compute_rate_hz`` — given a sequence of frame-arrival timestamps,
+  return the observed Hz over a window.
+* ``count_frames_by_id`` — filter + tally per MSP function ID.
+* ``evaluate_inav_gps_state`` — given a snapshot of iNav's ``gpsSol``
+  + ``provider`` after replay, assert AC-3 (fix_type ≥ 3, provider =
+  MSP, numSat matches the emitted value).
+
+The TCP-probe + actual MSP frame capture path is owned by AZ-407
+(``runner.helpers.sitl_observer``) and the iNav SITL docker compose
+service. This module only consumes already-captured data.
+
+Public-boundary discipline: does NOT import any ``src/gps_denied_onboard``
+symbol.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Sequence
+
+MSP2_SENSOR_GPS_FUNCTION_ID = 0x1F03
+DEFAULT_TARGET_RATE_HZ = 5.0
+MIN_OBSERVED_RATE_HZ = 4.5  # AC-2: ≥4.5 Hz observed for 5 Hz target
+MIN_FIX_TYPE = 3  # AC-3: gpsSol.fixType ≥ 3
+REQUIRED_PROVIDER = "MSP"  # AC-3: provider=MSP (no fallback to internal GPS)
+
+
+@dataclass(frozen=True)
+class MspFrameSample:
+    """One MSP frame as captured by the SITL-side observer."""
+
+    monotonic_ms: int
+    function_id: int
+
+
+@dataclass(frozen=True)
+class InavGpsSnapshot:
+    """Snapshot of iNav's ``gpsSol`` + provider state after replay."""
+
+    fix_type: int
+    num_sat: int
+    provider: str
+
+
+@dataclass(frozen=True)
+class RateReport:
+    """Observed rate over a window with pass/fail vs spec target."""
+
+    frame_count: int
+    window_ms: int
+    observed_rate_hz: float
+    target_rate_hz: float
+    min_required_hz: float
+
+    @property
+    def passes(self) -> bool:
+        return (
+            self.window_ms > 0
+            and self.observed_rate_hz >= self.min_required_hz
+        )
+
+
+@dataclass(frozen=True)
+class InavGpsReport:
+    """Evaluation of iNav GPS state against AC-3."""
+
+    snapshot: InavGpsSnapshot
+    expected_num_sat: int
+    fix_type_ok: bool
+    provider_ok: bool
+    num_sat_ok: bool
+
+    @property
+    def passes(self) -> bool:
+        return self.fix_type_ok and self.provider_ok and self.num_sat_ok
+
+
+def count_frames_by_id(samples: Sequence[MspFrameSample]) -> dict[int, int]:
+    """Tally per MSP function ID."""
+    counts: dict[int, int] = {}
+    for s in samples:
+        counts[s.function_id] = counts.get(s.function_id, 0) + 1
+    return counts
+
+
+def compute_rate_hz(
+    samples: Sequence[MspFrameSample],
+    *,
+    function_id: int = MSP2_SENSOR_GPS_FUNCTION_ID,
+    target_rate_hz: float = DEFAULT_TARGET_RATE_HZ,
+    min_required_hz: float = MIN_OBSERVED_RATE_HZ,
+) -> RateReport:
+    """Compute observed Hz for the given function_id over the sample window.
+
+    The window is ``[first_sample.monotonic_ms, last_sample.monotonic_ms]``
+    inclusive. A window of zero ms (≤1 matching sample) is reported but
+    will not pass.
+    """
+    if min_required_hz < 0:
+        raise ValueError(f"min_required_hz must be ≥0, got {min_required_hz}")
+    filtered = [s for s in samples if s.function_id == function_id]
+    if len(filtered) < 2:
+        return RateReport(
+            frame_count=len(filtered),
+            window_ms=0,
+            observed_rate_hz=0.0,
+            target_rate_hz=target_rate_hz,
+            min_required_hz=min_required_hz,
+        )
+    window_ms = filtered[-1].monotonic_ms - filtered[0].monotonic_ms
+    if window_ms <= 0:
+        return RateReport(
+            frame_count=len(filtered),
+            window_ms=window_ms,
+            observed_rate_hz=0.0,
+            target_rate_hz=target_rate_hz,
+            min_required_hz=min_required_hz,
+        )
+    # Rate = (count - 1) / (window in seconds); the first frame is the
+    # epoch boundary, subsequent frames define the cadence.
+    observed = (len(filtered) - 1) / (window_ms / 1000.0)
+    return RateReport(
+        frame_count=len(filtered),
+        window_ms=window_ms,
+        observed_rate_hz=observed,
+        target_rate_hz=target_rate_hz,
+        min_required_hz=min_required_hz,
+    )
+
+
+def evaluate_inav_gps_state(
+    snapshot: InavGpsSnapshot,
+    *,
+    expected_num_sat: int,
+    min_fix_type: int = MIN_FIX_TYPE,
+    required_provider: str = REQUIRED_PROVIDER,
+) -> InavGpsReport:
+    """Validate AC-3: fix_type ≥3, provider=MSP, numSat matches emitted value."""
+    if expected_num_sat < 0:
+        raise ValueError(f"expected_num_sat must be ≥0, got {expected_num_sat}")
+    return InavGpsReport(
+        snapshot=snapshot,
+        expected_num_sat=expected_num_sat,
+        fix_type_ok=snapshot.fix_type >= min_fix_type,
+        provider_ok=snapshot.provider == required_provider,
+        num_sat_ok=snapshot.num_sat == expected_num_sat,
+    )