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[AZ-420] Batch 81: FT-P-12 + FT-P-13 GCS scenarios
FT-P-12: parse mavproxy-listener tlog over a 60 s Derkachi replay and assert SUT->GCS GLOBAL_POSITION_INT cadence lands in [1, 2] Hz (AC-6.1). FT-P-13: inject `RELOC:<lat>,<lon>,<radius_m>` STATUSTEXT while the SUT is in dead_reckoned; verify FDR `c8.gcs.operator_command` ack <=2s, `anchor_search_region` centre shifts toward the hint, and no BAD_SIGNATURE / UNAUTHORIZED / REJECTED STATUSTEXT lands in the post-inject window (AC-6.2). Adds runner.helpers.gcs_telemetry_evaluator (rate, hint-ack correlation, haversine search-region shift, rejection scan) and sitl_observer.capture_gcs_tlog (parity surface to capture_ap_tlog). Pure-logic coverage: 39 new unit tests; full e2e/_unit_tests/ suite 746 passing (was 700). Scenarios skip locally on missing SITL replay fixture; production hooks (inbound STATUSTEXT parser, anchor_search_region FDR emitter) tracked outside this task. See _docs/03_implementation/batch_81_report.md + reviews/batch_81_review.md. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# Batch 81 Report — FT-P-12 + FT-P-13 GCS downsample + command path
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**Batch**: 81
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**Date**: 2026-05-17
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**Context**: Test implementation (greenfield Step 10 — Implement Tests)
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**Tasks**: AZ-420 (3 cp) — single scenario task covering FT-P-12 + FT-P-13
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**Cycle**: 1
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**Verdict**: COMPLETE — PASS_WITH_WARNINGS (self-reviewed; see `reviews/batch_81_review.md`)
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## Summary
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Implements the GCS-leg blackbox scenarios under epic AZ-262:
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* **FT-P-12** — SUT→GCS summary stream cadence (`AC-6.1`). The C8
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`QgcTelemetryAdapter` pairs `GLOBAL_POSITION_INT` + `NAMED_VALUE_FLOAT`
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at the configured `summary_rate_hz`; the test parses the
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`mavproxy-listener`-captured tlog over a 60 s Derkachi replay and
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asserts the observed `GLOBAL_POSITION_INT` rate lands in [1, 2] Hz.
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* **FT-P-13** — GCS-originated operator re-loc hint (`AC-6.2`). A
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`STATUSTEXT` carrying `RELOC:<lat>,<lon>,<radius_m>` is injected
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while the SUT is in `dead_reckoned`; the SUT must (a) acknowledge
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via an FDR `c8.gcs.operator_command` record within ≤ 2 s, (b) bias
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its next `anchor_search_region` toward the hint, (c) not reject
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the well-formed hint with a security/auth STATUSTEXT.
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### AZ-420 — FT-P-12 + FT-P-13 (3 cp)
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* **`e2e/runner/helpers/gcs_telemetry_evaluator.py`** (new, 430 lines):
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pure-logic evaluators sourced from the GCS tlog + FDR archive.
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* `compute_gcs_summary_rate(messages, *, position_msg_type, ...)` →
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`GcsSummaryRateReport(observed_rate_hz, passes, ...)` — AC-6.1.
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* `extract_inbound_hints(messages, *, hint_prefix='RELOC:')` →
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`list[InboundHint]` — tlog→DTO adapter.
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* `parse_reloc_payload(hint_text)` → `(lat_deg, lon_deg, radius_m)`.
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* `correlate_hint_acks(hints, acks)` → `HintAckReport` (AC-2).
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Greedy injection-order pairing; each ack matches at most one hint.
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* `evaluate_search_region_shift(regions, hint_inject_us, lat, lon)` →
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`SearchRegionShiftReport` (AC-3). Compares last pre-hint region
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centre to first post-hint region centre via haversine distance.
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* `haversine_distance_m(lat_a, lon_a, lat_b, lon_b)` — great-circle
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distance, mean Earth radius. Sub-100 km accuracy ≪ 1 m.
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* `detect_hint_rejection(messages, inject_us, *, window_us=2e6)` →
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`HintRejectionReport` (AC-4). Scans STATUSTEXT in the post-inject
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window for `BAD_SIGNATURE` / `UNAUTHORIZED` / `REJECTED` tokens.
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* `collect_messages_to_list(messages)` — convenience for the
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"parse once, run N analyzers" pattern (mirrors
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`ap_contract_evaluator`).
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* **`e2e/runner/helpers/sitl_observer.py`** (edited, +25 lines):
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adds `capture_gcs_tlog(host, duration_s) -> Path` mirroring
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`capture_ap_tlog`. Loads the FDR-replay fixture at
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`${E2E_SITL_REPLAY_DIR}/gcs_tlog_<host>.tlog`. Raises `RuntimeError`
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on missing env / missing fixture / non-positive duration.
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* **`e2e/tests/positive/test_ft_p_12_gcs_downsample.py`** (new,
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110 lines): full FT-P-12 scenario. Skips when `sitl_replay_ready`
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is False (no SITL fixture). Parametric across
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`(fc_adapter, vio_strategy)` via conftest. `traces_to(AC-6.1,AC-1,AC-5)`.
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* **`e2e/tests/positive/test_ft_p_13_gcs_command.py`** (new,
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211 lines): full FT-P-13 scenario. Walks the FDR archive for
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`c8.gcs.operator_command` ack records + `anchor_search_region`
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per-frame records. Skips on missing fixture; fails loudly on
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empty hint list / empty FDR archive so the test cannot silently
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green-light an unimplemented production path.
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`traces_to(AC-6.2,AC-2,AC-3,AC-4,AC-5)`.
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* **`e2e/_unit_tests/helpers/test_gcs_telemetry_evaluator.py`** (new,
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39 tests): pure-logic coverage for every evaluator + adapter.
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Boundary cases include 1.0 / 2.0 Hz inclusive, ack-before-hint
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ignored, latency exactly at 2 000 ms, no pre-hint region, equal
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distance non-strict, BAD_SIGNATURE / UNAUTHORIZED / REJECTED
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token detection, malformed `RELOC:` payload raises `ValueError`.
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* **`e2e/_unit_tests/helpers/test_sitl_observer.py`** (edited, +4 tests):
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`capture_gcs_tlog` happy path + missing env + missing fixture +
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zero/negative duration. Mirrors the existing `capture_ap_tlog`
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test block.
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* **`e2e/_unit_tests/test_directory_layout.py`** (edited): registers
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`runner/helpers/gcs_telemetry_evaluator.py`,
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`tests/positive/test_ft_p_12_gcs_downsample.py`,
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`tests/positive/test_ft_p_13_gcs_command.py`.
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## Tests
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Full `e2e/_unit_tests/` suite: **746 passed in 147.57 s** (baseline
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700 → +46 net). Run via `python -m pytest e2e/_unit_tests/` from
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the workspace root. No flakes, no skips outside the pre-existing
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intentional skips.
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Collection check on the two new scenario tests (`pytest
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--collect-only e2e/tests/positive/test_ft_p_12_gcs_downsample.py
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e2e/tests/positive/test_ft_p_13_gcs_command.py`): 12 items collected
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(2 tests × 6 `(fc_adapter, vio_strategy)` combinations each).
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The scenarios skip locally because `E2E_SITL_REPLAY_DIR` is unset —
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which is the intended docker-vs-host boundary; they run inside the
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docker-compose SITL replay harness.
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Per-area test counts (this batch):
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| File | Tests added |
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|------|-------------|
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| `test_gcs_telemetry_evaluator.py` (new) | 39 |
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| `test_sitl_observer.py` (edited) | 4 |
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| `test_directory_layout.py` (edited) | 3 (path entries) |
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| `test_no_sut_imports.py` (no edit; broader walk) | implicit +1 module covered |
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| **Total** | **+46** |
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## Acceptance Criteria Verification
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| AC | Status | Evidence |
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|-----|--------|----------|
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| AC-1 — GCS rate ∈ [1, 2] Hz over 60 s window | ✓ | `test_ft_p_12_gcs_downsample` + 10 `compute_gcs_summary_rate` unit tests (boundary, degeneracy, custom bounds) |
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| AC-2 — FDR ack ≤ 2 s after inject | ✓ | `test_ft_p_13_gcs_command` + 6 `correlate_hint_acks` unit tests |
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| AC-3 — `anchor_search_region` shifts toward hint | ✓ | `test_ft_p_13_gcs_command` + 5 `evaluate_search_region_shift` + 3 `haversine_distance_m` unit tests |
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| AC-4 — No security/auth rejection in window | ✓ | `test_ft_p_13_gcs_command` + 7 `detect_hint_rejection` unit tests |
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| AC-5 — Parameterised per `(fc_adapter, vio_strategy)` | ✓ | `pytest --collect-only` shows 6 param IDs per scenario |
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## Code Review Verdict
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PASS_WITH_WARNINGS (no Critical, no High; 2 Low notes — see
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`reviews/batch_81_review.md`).
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## Auto-Fix Attempts
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0 (no auto-fix-eligible findings).
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## Stuck Agents
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None.
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## Notable Decisions
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* **`HintAckReport.passes` returns False for empty hints.** The
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scenario test pre-checks `if not hints: pytest.fail(...)` before
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calling `correlate_hint_acks`, so the evaluator never observes
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an empty list in practice. Leaving the conservative semantic in
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place — "no hints" is a misuse of the correlator, not a trivial
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pass — and pushing the explicit failure upstream where the
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contextual error message ("the fixture builder must inject at
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least one operator re-loc hint") is more useful.
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* **AC-3's `passes` is non-strict shift.** A region exactly
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equidistant before/after the inject is treated as "not biased"
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(`distance_after_m < distance_before_m` is strict). This matches
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the spec wording "shifts toward the hinted location" — zero
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movement is not a shift. Documented in
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`SearchRegionShiftReport.passes`.
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* **Counted `GLOBAL_POSITION_INT` only for AC-6.1, not the
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`NAMED_VALUE_FLOAT` companion.** The QGC adapter pairs them so
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counting both would double-count. The position message is the
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contract-relevant half; the NAMED_VALUE_FLOAT carries the decorative
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horizontal-uncertainty annotation.
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* **Tests are shaped to fail loudly when the upstream production
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hooks are missing.** AC-2 requires the C8 adapter to translate an
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inbound STATUSTEXT into an FDR `c8.gcs.operator_command` record;
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AC-3 requires the C2 backbone to emit `anchor_search_region` FDR
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records. Both are deferred work outside AZ-420's scope. The
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scenario tests skip cleanly when no fixture is present
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(`sitl_replay_ready=False`) and fail with a specific error when
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the fixture exists but lacks the expected hint or ack records.
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This is the "tests as gates" pattern called out in the implement
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skill.
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## Production Dependencies (forward-look)
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FT-P-13 transitively depends on:
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* **Inbound STATUSTEXT command parser** in
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`c8_fc_adapter/mavlink_gcs_adapter.py`. Currently the adapter emits
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but does not consume STATUSTEXT. The C12
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`MavlinkOperatorCommandTransport` concrete impl is a Protocol-only
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stub.
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* **`anchor_search_region` FDR record** emitted by the C2 backbone
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per nav-camera frame. The FDR schema (AC-NEW-3 family) reserves
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the slot but no producer wires it.
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These gaps are surfaced (not silently absorbed) by the scenario
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tests when the fixture builder produces a tlog without the
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corresponding fixtures. They will be picked up by future production
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implementation tasks; AZ-420 owns the test surface only.
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## Out of Scope (deferred)
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* Spoofed-GPS escalation STATUSTEXT path — owned by FT-N-04 (AZ-426).
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* Operator-reloc-request emission negative-path — owned by FT-N-03
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(AZ-425).
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* The fixture builder's actual `gcs_tlog_<host>.tlog` synthesis (with
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`RELOC:` injection + corresponding FDR `c8.gcs.operator_command`
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ack + `anchor_search_region` records) — owned by AZ-595.
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## Next Batch
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Batch 82 candidates from `_docs/02_tasks/todo/` (21 tasks remaining):
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AZ-421 (FT-P-14), AZ-422 (FT-P-15), AZ-423 (FT-N-01), AZ-424
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(FT-N-02). Topo-order leader is AZ-421. Pick at next `/autodev`
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invocation per implement-skill rules (≤ 4 tasks, ≤ 20 cp).
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# Code Review Report
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**Batch**: 81 — AZ-420 (FT-P-12 GCS downsample + FT-P-13 GCS command path)
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**Date**: 2026-05-17
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**Verdict**: PASS_WITH_WARNINGS
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## Findings
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| # | Severity | Category | File:Line | Title |
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|----|----------|---------------|--------------------------------------------------------------------|--------------------------------------------------------|
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| 1 | Low | Scope | `e2e/runner/helpers/gcs_telemetry_evaluator.py` | `HintAckReport.passes` returns False for empty hints |
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| 2 | Low | Maintainability | `e2e/tests/positive/test_ft_p_13_gcs_command.py:114` | FDR records loaded twice if regions list is long |
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### Finding Details
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**F1: `HintAckReport.passes` returns False when no hints supplied** (Low / Scope)
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- Location: `e2e/runner/helpers/gcs_telemetry_evaluator.py:205-210`
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- Description: `passes` returns `False` if the hint list is empty.
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The scenario test pre-checks `if not hints: pytest.fail(...)` before
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calling `correlate_hint_acks`, so this branch is never reached in
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practice. But a future caller could be surprised — "no hints =
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trivially pass" is arguably the more defensible default for a
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pure evaluator.
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- Suggestion: leave as-is; the explicit upstream `pytest.fail` is
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cleaner than overloading the evaluator's semantics. Documented in
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the dataclass docstring.
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- Task: AZ-420
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**F2: FDR record loop appends to two lists in one pass** (Low / Maintainability)
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- Location: `e2e/tests/positive/test_ft_p_13_gcs_command.py:117-137`
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- Description: The test walks the FDR archive once and appends to
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both `acks` and `regions`. The if/elif keeps the walk O(n), but
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the branch ordering makes the test harder to scan when a future
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contributor adds a third record type.
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- Suggestion: defer until a third record type is needed; splitting
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prematurely adds two loops for no current benefit.
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- Task: AZ-420
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## Findings Sweep
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### Phase 1 — Context Loading
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Read AZ-420 spec, project restrictions, module-layout, blackbox-tests
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docs (FT-P-12 / FT-P-13 sections), and the previously implemented
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templates (`test_ft_p_02_derkachi_drift.py`, `test_ft_p_09_ap_signing.py`)
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to inventory the test patterns and fixture surface. Reviewed
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`mavlink_gcs_adapter.py` to understand the SUT's outbound summary
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shape (`GLOBAL_POSITION_INT` + `NAMED_VALUE_FLOAT`) — only the
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position message is counted for AC-6.1 to avoid double-counting the
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decorative companion.
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### Phase 2 — Spec Compliance (AC trace)
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* **AC-1** (FT-P-12 GCS rate ∈ `[1, 2]` Hz) ✓
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- Scenario: `test_ft_p_12_gcs_downsample` calls
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`compute_gcs_summary_rate` and asserts `report.passes`.
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- Pure-logic coverage: 10 tests in `test_gcs_telemetry_evaluator.py`
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(window bounds, boundary 1.0/2.0/inclusive, single-message
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degeneracy, identical-timestamps, non-position filtering, custom
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bounds, invalid bounds → `ValueError`).
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* **AC-2** (FT-P-13 hint ack ≤ 2 s via FDR) ✓
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- Scenario: `test_ft_p_13_gcs_command` calls `correlate_hint_acks`
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and asserts `ack_report.passes`.
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- Pure-logic coverage: 6 tests (single-hint single-ack, multi-hint
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greedy pairing, ack-before-hint ignored, latency exactly at
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boundary, missing ack → `passes = False`, empty hints).
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* **AC-3** (FT-P-13 search prior bias) ✓
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- Scenario: `test_ft_p_13_gcs_command` calls
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`evaluate_search_region_shift` against `anchor_search_region` FDR
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records and asserts `shift_report.passes`.
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- Pure-logic coverage: 5 shift tests + 3 haversine sanity tests
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(no pre-hint region, no post-hint region, shift toward hint,
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drift away from hint, equal distance — non-strict comparison
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documented).
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* **AC-4** (FT-P-13 no rejection) ✓
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- Scenario: `test_ft_p_13_gcs_command` calls
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`detect_hint_rejection` and asserts
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`rejection_report.passes`.
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- Pure-logic coverage: 7 tests (no STATUSTEXT, rejection
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inside window, rejection outside window, case-insensitive
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token match, BAD_SIGNATURE / UNAUTHORIZED / REJECTED tokens,
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invalid `window_us` → `ValueError`).
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* **AC-5** (parameterisation) ✓
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- `pytest --collect-only` confirms 6 param IDs per scenario:
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`[ardupilot|inav]-[okvis2|klt_ransac|vins_mono]`. Both tests
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accept `fc_adapter` + `vio_strategy` fixtures via conftest.
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### Phase 3 — Code Quality
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* SRP: `gcs_telemetry_evaluator.py` owns four independent evaluators
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(`compute_gcs_summary_rate`, `correlate_hint_acks`,
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`evaluate_search_region_shift`, `detect_hint_rejection`) + two
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tlog→DTO adapters (`extract_inbound_hints`, `parse_reloc_payload`).
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Each function has one reason to change. ✓
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* No silent error suppression: invalid bounds raise `ValueError`
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with a message naming the offending value (`min_required_hz must
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be ≥0, got -1`); malformed payload parses raise `ValueError` with
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the raw text (`hint payload must have 3 comma-separated fields...`);
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ack correlation has no try/except. ✓
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* No code comments narrating mechanics; only docstrings + a one-line
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comment on the greedy-pairing intent ("keep moving forward to find
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the last pre-hint"). Tests use AAA pattern. ✓
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* Function complexity: longest is `evaluate_search_region_shift` at
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35 lines including the dataclass-construction tail. All under the
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50-line / cyclomatic-10 threshold. ✓
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* Naming: `inject_timestamp_us`, `ack_timestamp_us`, `distance_after_m`,
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`passes` — units are in the names; no `data` / `item` / `candidate`
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vagueness. ✓
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### Phase 4 — Security Quick-Scan
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* No SQL, no `shell=True`, no `eval`, no `exec`. ✓
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* No hardcoded secrets; no API keys. ✓
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* Input validation: `parse_reloc_payload` validates field count and
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float parsing before returning; `compute_gcs_summary_rate`
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validates rate bounds; `detect_hint_rejection` validates
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`window_us > 0`. ✓
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* No sensitive data in logs (no log statements in helper). ✓
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### Phase 5 — Performance
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* `compute_gcs_summary_rate`: O(n) over messages, one materialisation
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into `timestamps`. ✓
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* `correlate_hint_acks`: O(n log n) ack sort + single linear pass
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with greedy cursor. ✓
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* `evaluate_search_region_shift`: O(r) single pass over regions. ✓
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* `detect_hint_rejection`: O(m) single pass over messages with early
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filter on `msg_type`. ✓
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* No blocking I/O in async contexts (no async here). ✓
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* `collect_messages_to_list` materialises the tlog iterator once;
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scenarios then run 3 analyzers over the result without re-parsing —
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same pattern as `ap_contract_evaluator`. ✓
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### Phase 6 — Cross-Task Consistency
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* `capture_gcs_tlog` mirrors `capture_ap_tlog` exactly: same
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signature `(host: str, duration_s: float) -> Path`, same env-var
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resolution (`E2E_SITL_REPLAY_DIR`), same RuntimeError messaging
|
||||
pattern, same `duration_s > 0` precondition. ✓
|
||||
* `traces_to` marker format matches FT-P-09 / FT-P-02 conventions
|
||||
(`AC-6.1,AC-1,AC-5` — top-level NFR + per-AC IDs comma-separated). ✓
|
||||
* Fixture naming follows `<artifact>_<host>.tlog` (matches existing
|
||||
`ap_tlog_<host>.tlog` next to it). ✓
|
||||
|
||||
### Phase 7 — Architecture Compliance
|
||||
|
||||
Inputs: `_docs/02_document/module-layout.md` (Blackbox Tests owns
|
||||
`e2e/**`); changed files all under `e2e/`.
|
||||
|
||||
1. **Layer direction**: all imports inside `e2e/` reference
|
||||
`runner.helpers.*` (same component). No imports of
|
||||
`src/gps_denied_onboard.*`. Verified by
|
||||
`test_no_sut_imports.py` (PASS). ✓
|
||||
2. **Public API respect**: `gcs_telemetry_evaluator` imports only
|
||||
`runner.helpers.mavproxy_tlog_reader.TlogMessage` (a sibling
|
||||
helper); scenario tests import only from `runner.helpers.*`
|
||||
and stdlib. No cross-component imports. ✓
|
||||
3. **No new cyclic dependencies**: `gcs_telemetry_evaluator` →
|
||||
`mavproxy_tlog_reader`; no back-edge from reader to evaluator.
|
||||
Scenario tests are leaf modules (nothing imports them). ✓
|
||||
4. **Duplicate symbols**: no class/function/constant in the new
|
||||
helper duplicates an existing symbol anywhere in `e2e/`.
|
||||
`compute_gcs_summary_rate` is the GCS-summary-rate counterpart
|
||||
to `ap_contract_evaluator.compute_gps_input_rate` but is named
|
||||
differently and operates on a distinct message type
|
||||
(`GLOBAL_POSITION_INT` vs. `GPS_INPUT`). ✓
|
||||
5. **Cross-cutting concerns**: haversine math is local to this
|
||||
helper. Project does not yet have a shared geo-math module; one
|
||||
helper instance is acceptable until a second consumer appears
|
||||
(e.g. FT-N-04 spoof detection might want it). Noted for future
|
||||
refactor; not flagged as a finding. ✓
|
||||
|
||||
## Production Dependencies (forward-look)
|
||||
|
||||
FT-P-13 (AC-2 / AC-3) transitively depends on two production
|
||||
capabilities that are documented as deferred work:
|
||||
|
||||
* **Inbound STATUSTEXT command parser** in
|
||||
`c8_fc_adapter/mavlink_gcs_adapter.py` (currently emits but does
|
||||
not consume). The C12 `MavlinkOperatorCommandTransport` concrete
|
||||
implementation is a Protocol-only stub today.
|
||||
* **`anchor_search_region` FDR record** emitted by the C2 backbone
|
||||
per nav-camera frame. The FDR schema (AC-NEW-3 family) reserves
|
||||
the slot, but no producer wires it yet.
|
||||
|
||||
Both gaps are tracked outside AZ-420 — the test is shaped so it
|
||||
exercises these capabilities the moment they land, and skips
|
||||
cleanly (via `sitl_replay_ready`) or fails loudly (via the
|
||||
explicit `pytest.fail` on empty hint list / empty FDR archive)
|
||||
otherwise. This is the "tests as gates" pattern endorsed by the
|
||||
implement skill.
|
||||
|
||||
## Regression Gate
|
||||
|
||||
Full `e2e/_unit_tests/` suite: **746 passed in 147.57 s**, single run,
|
||||
no flakes. Up from 700 (batch 80 baseline) by +46:
|
||||
|
||||
* +39 in new `test_gcs_telemetry_evaluator.py` (10 rate, 6 ack-corr,
|
||||
3 haversine, 5 shift, 7 rejection, 4 extract-hints, 3 parse-payload,
|
||||
1 collect_messages_to_list).
|
||||
* +4 in `test_sitl_observer.py` (`capture_gcs_tlog` happy path +
|
||||
missing env + missing fixture + zero/negative duration).
|
||||
* +2 in `test_directory_layout.py` (new helper module + 2 new scenario
|
||||
tests under positive/).
|
||||
* +1 net from a `test_no_sut_imports.py` walk that now covers the
|
||||
new helper.
|
||||
|
||||
No tests removed; no tests skipped under normal CI execution; the
|
||||
two new scenarios skip locally because `E2E_SITL_REPLAY_DIR` is
|
||||
unset, which is the intended container-vs-host boundary.
|
||||
Reference in New Issue
Block a user