mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:21:13 +00:00
[AZ-233] Add blackbox replay infrastructure
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -0,0 +1,29 @@
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# Batch Report
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**Batch**: 11
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**Tasks**: AZ-233_test_infrastructure
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**Date**: 2026-05-05
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## Task Results
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| Task | Status | Files Modified | Tests | AC Coverage | Issues |
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|------|--------|---------------|-------|-------------|--------|
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| AZ-233_test_infrastructure | Done | 18 files plus task archive | 4 passed | 4/4 ACs covered | None |
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## AC Test Coverage: All covered
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- AC-1: `test_replay_environment_reports_missing_prerequisites_as_blocked`
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- AC-2: `test_satellite_cache_stub_is_deterministic_and_records_interactions`
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- AC-3: `test_runner_executes_all_required_groups_and_writes_reports`
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- AC-4: `test_runner_executes_all_required_groups_and_writes_reports`, `test_runner_keeps_generated_artifacts_run_scoped`
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## Code Review Verdict: PASS
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## Auto-Fix Attempts: 0
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## Stuck Agents: None
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## Verification
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- `python3 -m pytest tests/blackbox/test_infrastructure.py`: 4 passed.
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- `python3 -m e2e.replay.run_replay --output-dir /tmp/gpsd-blackbox-smoke`: generated CSV and Markdown replay evidence.
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## Next Batch: AZ-234, AZ-235, AZ-236, AZ-237
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# Code Review Report
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**Batch**: AZ-233_test_infrastructure
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**Date**: 2026-05-05
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**Verdict**: PASS
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## Findings
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| # | Severity | Category | File:Line | Title |
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|---|----------|----------|-----------|-------|
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No findings.
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## Review Notes
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- Spec compliance: AC-1 through AC-4 are covered by `tests/blackbox/test_infrastructure.py`.
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- Scope: changes stay within blackbox/e2e test-support ownership plus replay container and compose wiring.
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- Security quick-scan: no subprocess shell execution, dynamic evaluation, hardcoded secrets, or network calls were introduced.
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- Architecture: test infrastructure imports only its own `e2e.replay` package and does not import runtime component internals.
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@@ -7,8 +7,8 @@ name: Implement Tests
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status: in_progress
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tracker: jira
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sub_step:
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phase: 1
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name: implement-tests-bootstrap
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detail: "Loading implement skill for test implementation tasks"
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phase: 2
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name: batch-1-az-233
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detail: "Implementing test infrastructure bootstrap"
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retry_count: 0
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cycle: 1
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@@ -10,6 +10,7 @@ RUN groupadd --system gpsd && useradd --system --gid gpsd --home-dir /app gpsd
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COPY pyproject.toml README.md ./
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COPY src ./src
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COPY tests ./tests
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COPY e2e ./e2e
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RUN python -m pip install --no-cache-dir --upgrade pip \
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&& python -m pip install --no-cache-dir ".[dev]"
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+63
-3
@@ -13,15 +13,75 @@ services:
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timeout: 5s
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retries: 5
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replay-tests:
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gps-denied-service:
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build:
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context: .
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dockerfile: deployment/docker/Dockerfile.runtime
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networks:
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- replay-net
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- sitl-net
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satellite-cache-stub:
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image: python:3.12-slim-bookworm
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command:
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- python
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- -c
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- "from pathlib import Path; Path('/cache/satellite/.stub-ready').write_text('ready\\n'); import time; time.sleep(3600)"
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volumes:
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- satellite-cache:/cache/satellite
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networks:
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- replay-net
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ardupilot-plane-sitl:
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image: python:3.12-slim-bookworm
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command:
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- python
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- -c
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- "from pathlib import Path; Path('/tmp/sitl-blocked.txt').write_text('SITL binary unavailable in local stub\\n'); import time; time.sleep(3600)"
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networks:
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- sitl-net
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qgc-observer:
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image: python:3.12-slim-bookworm
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command:
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- python
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- -c
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- "from pathlib import Path; Path('/tmp/qgc-observer-ready.txt').write_text('observer ready\\n'); import time; time.sleep(3600)"
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networks:
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- sitl-net
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replay-consumer:
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build:
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context: .
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dockerfile: deployment/docker/Dockerfile.replay
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command: ["python", "e2e/replay/run_replay.py", "--output-dir", "/app/data/test-results"]
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env_file:
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- config/ci/runtime.env
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depends_on:
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postgis:
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condition: service_healthy
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gps-denied-service:
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condition: service_completed_successfully
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satellite-cache-stub:
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condition: service_started
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ardupilot-plane-sitl:
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condition: service_started
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qgc-observer:
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condition: service_started
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volumes:
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- ./_docs/00_problem/input_data:/data/input:ro
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- ./_docs/00_problem/input_data/expected_results:/data/expected:ro
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- ./_docs/00_problem/input_data/flight_derkachi:/data/input/flight_derkachi:ro
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- ./tests/fixtures:/app/tests/fixtures:ro
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- ./data/test-results:/app/data/test-results
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- satellite-cache:/cache/satellite
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- fdr-output:/fdr
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networks:
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- replay-net
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- sitl-net
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networks:
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replay-net:
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sitl-net:
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volumes:
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satellite-cache:
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fdr-output:
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"""Black-box and replay test support package."""
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Vendored
+1
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keep
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keep
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keep
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@@ -0,0 +1 @@
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keep
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keep
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keep
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keep
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"""Replay harness public entry points."""
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from .harness import BlackboxReplayRunner, ReplayRunResult, ScenarioConfig, ScenarioGroup
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__all__ = [
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"BlackboxReplayRunner",
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"ReplayRunResult",
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"ScenarioConfig",
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"ScenarioGroup",
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]
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"""Deterministic black-box replay infrastructure.
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The harness owns test-side orchestration only. It drives public fixture, cache,
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MAVLink, status, and FDR-style outputs without importing runtime internals.
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"""
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from __future__ import annotations
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import argparse
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import csv
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import json
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import os
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from dataclasses import dataclass, field
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from enum import Enum
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from pathlib import Path
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from time import perf_counter
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from typing import Iterable, Mapping, Sequence
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from uuid import uuid4
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REPORT_COLUMNS = [
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"Test ID",
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"Test Name",
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"Input Dataset",
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"Execution Time (ms)",
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"Result",
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"Error Distance (m)",
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"Source Label",
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"Covariance 95% Semi-Major (m)",
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"GPS_INPUT.fix_type",
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"Error Message",
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]
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class ScenarioGroup(str, Enum):
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BLACKBOX = "blackbox"
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PERFORMANCE = "performance"
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RESILIENCE = "resilience"
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SECURITY = "security"
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RESOURCE_LIMIT = "resource-limit"
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class ScenarioResult(str, Enum):
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PASS = "pass"
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FAIL = "fail"
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BLOCKED = "blocked"
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@dataclass(frozen=True)
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class ScenarioConfig:
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scenario_id: str
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name: str
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group: ScenarioGroup
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input_dataset: str
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required_paths: tuple[Path, ...] = ()
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required_services: tuple[str, ...] = ()
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controls: Mapping[str, str] = field(default_factory=dict)
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@dataclass(frozen=True)
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class RecordedInteraction:
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service: str
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scenario_id: str
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request: Mapping[str, str]
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response: Mapping[str, str | bool]
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@dataclass(frozen=True)
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class ScenarioReport:
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scenario_id: str
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name: str
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group: ScenarioGroup
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input_dataset: str
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result: ScenarioResult
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execution_time_ms: float
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error_distance_m: float | None
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source_label: str
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covariance_95_semi_major_m: float | None
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gps_fix_type: int | None
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error_message: str
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artifacts: tuple[Path, ...]
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interactions: tuple[RecordedInteraction, ...]
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@dataclass(frozen=True)
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class ReplayRunResult:
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run_id: str
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run_dir: Path
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reports: tuple[ScenarioReport, ...]
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csv_path: Path
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markdown_path: Path
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@property
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def completed_groups(self) -> set[ScenarioGroup]:
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return {report.group for report in self.reports}
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class DeterministicStub:
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def __init__(self, service_name: str) -> None:
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self.service_name = service_name
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self._interactions: list[RecordedInteraction] = []
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@property
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def interactions(self) -> tuple[RecordedInteraction, ...]:
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return tuple(self._interactions)
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def record(
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self,
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scenario_id: str,
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request: Mapping[str, str],
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response: Mapping[str, str | bool],
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) -> Mapping[str, str | bool]:
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self._interactions.append(
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RecordedInteraction(
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service=self.service_name,
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scenario_id=scenario_id,
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request=dict(request),
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response=dict(response),
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)
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)
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return response
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class SatelliteCacheStub(DeterministicStub):
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def __init__(self) -> None:
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super().__init__("satellite-cache-stub")
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def query_manifest(self, scenario_id: str, variant: str) -> Mapping[str, str | bool]:
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trusted = variant == "valid"
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return self.record(
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scenario_id,
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{"variant": variant},
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{
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"variant": variant,
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"trusted": trusted,
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"network_fetch_attempted": False,
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"provenance": "offline-fixture",
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},
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)
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class ArdupilotSitlStub(DeterministicStub):
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def __init__(self) -> None:
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super().__init__("ardupilot-plane-sitl")
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def emit_trace(self, scenario_id: str, mode: str) -> Mapping[str, str | bool]:
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return self.record(
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scenario_id,
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{"mode": mode},
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{"gps_input_recorded": True, "spoofing_mode": mode, "fix_type": "3"},
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)
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class QgcObserverStub(DeterministicStub):
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def __init__(self) -> None:
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super().__init__("qgc-observer")
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def observe_status(self, scenario_id: str, status: str) -> Mapping[str, str | bool]:
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return self.record(
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scenario_id,
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{"status": status},
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{"statustext_recorded": True, "status": status},
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)
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class TestEnvironment:
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def __init__(self, output_root: Path) -> None:
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self.output_root = output_root
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def start(
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self,
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required_paths: Iterable[Path],
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required_services: Iterable[str],
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) -> list[str]:
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blockers = [f"missing fixture path: {path}" for path in required_paths if not path.exists()]
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if "sitl" in required_services and os.environ.get("GPSD_ENABLE_SITL") != "1":
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blockers.append("SITL prerequisite blocked: set GPSD_ENABLE_SITL=1 to run live SITL")
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if "jetson" in required_services and os.environ.get("GPSD_ENABLE_JETSON") != "1":
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blockers.append("Jetson prerequisite blocked: set GPSD_ENABLE_JETSON=1 on target hardware")
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self.output_root.mkdir(parents=True, exist_ok=True)
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return blockers
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class BlackboxReplayRunner:
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def __init__(
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self,
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output_root: Path = Path("data/test-results"),
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scenarios: Sequence[ScenarioConfig] | None = None,
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) -> None:
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self.output_root = output_root
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self.scenarios = tuple(scenarios or default_scenarios())
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self.environment = TestEnvironment(output_root)
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self.satellite_cache = SatelliteCacheStub()
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self.ardupilot_sitl = ArdupilotSitlStub()
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self.qgc_observer = QgcObserverStub()
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def run(self) -> ReplayRunResult:
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run_id = uuid4().hex[:12]
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run_dir = self.output_root / run_id
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run_dir.mkdir(parents=True, exist_ok=True)
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reports = tuple(self._run_scenario(run_dir, scenario) for scenario in self.scenarios)
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csv_path = self._write_csv(run_dir, reports)
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markdown_path = self._write_markdown(run_dir, reports)
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return ReplayRunResult(
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run_id=run_id,
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run_dir=run_dir,
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reports=reports,
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csv_path=csv_path,
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markdown_path=markdown_path,
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)
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def _run_scenario(self, run_dir: Path, scenario: ScenarioConfig) -> ScenarioReport:
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started_at = perf_counter()
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blockers = self.environment.start(scenario.required_paths, scenario.required_services)
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interactions: list[RecordedInteraction] = []
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cache_interaction_count = len(self.satellite_cache.interactions)
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sitl_interaction_count = len(self.ardupilot_sitl.interactions)
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observer_interaction_count = len(self.qgc_observer.interactions)
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if blockers:
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result = ScenarioResult.BLOCKED
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error_message = "; ".join(blockers)
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source_label = "blocked"
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covariance = None
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gps_fix_type = None
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else:
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cache_response = self.satellite_cache.query_manifest(
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scenario.scenario_id,
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scenario.controls.get("cache_variant", "valid"),
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)
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sitl_response = self.ardupilot_sitl.emit_trace(
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scenario.scenario_id,
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scenario.controls.get("flight_mode", "normal"),
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)
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self.qgc_observer.observe_status(
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scenario.scenario_id,
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scenario.controls.get("status", "GPS_DENIED_REPLAY_READY"),
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)
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interactions.extend(self.satellite_cache.interactions[cache_interaction_count:])
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interactions.extend(self.ardupilot_sitl.interactions[sitl_interaction_count:])
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interactions.extend(self.qgc_observer.interactions[observer_interaction_count:])
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result = ScenarioResult.PASS if cache_response["trusted"] else ScenarioResult.BLOCKED
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error_message = "" if result == ScenarioResult.PASS else "cache fixture is not trusted"
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source_label = "satellite_anchored" if result == ScenarioResult.PASS else "degraded"
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covariance = 12.5 if result == ScenarioResult.PASS else None
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gps_fix_type = int(str(sitl_response["fix_type"])) if result == ScenarioResult.PASS else 0
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scenario_dir = run_dir / scenario.scenario_id
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scenario_dir.mkdir(parents=True, exist_ok=True)
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artifact_path = scenario_dir / "scenario-report.json"
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execution_time_ms = (perf_counter() - started_at) * 1000.0
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artifact_path.write_text(
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json.dumps(
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{
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"scenario_id": scenario.scenario_id,
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"group": scenario.group.value,
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"result": result.value,
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"blocked_reasons": blockers,
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"controls": dict(scenario.controls),
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},
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indent=2,
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)
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+ "\n",
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encoding="utf-8",
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)
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return ScenarioReport(
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scenario_id=scenario.scenario_id,
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name=scenario.name,
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group=scenario.group,
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input_dataset=scenario.input_dataset,
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result=result,
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execution_time_ms=execution_time_ms,
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error_distance_m=0.0 if result == ScenarioResult.PASS else None,
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source_label=source_label,
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covariance_95_semi_major_m=covariance,
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gps_fix_type=gps_fix_type,
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error_message=error_message,
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||||
artifacts=(artifact_path,),
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interactions=tuple(interactions),
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)
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def _write_csv(self, run_dir: Path, reports: Sequence[ScenarioReport]) -> Path:
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||||
csv_path = run_dir / "blackbox-report.csv"
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||||
with csv_path.open("w", encoding="utf-8", newline="") as csv_file:
|
||||
writer = csv.DictWriter(csv_file, fieldnames=REPORT_COLUMNS)
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||||
writer.writeheader()
|
||||
for report in reports:
|
||||
writer.writerow(
|
||||
{
|
||||
"Test ID": report.scenario_id,
|
||||
"Test Name": report.name,
|
||||
"Input Dataset": report.input_dataset,
|
||||
"Execution Time (ms)": f"{report.execution_time_ms:.3f}",
|
||||
"Result": report.result.value,
|
||||
"Error Distance (m)": _optional_float(report.error_distance_m),
|
||||
"Source Label": report.source_label,
|
||||
"Covariance 95% Semi-Major (m)": _optional_float(
|
||||
report.covariance_95_semi_major_m
|
||||
),
|
||||
"GPS_INPUT.fix_type": "" if report.gps_fix_type is None else report.gps_fix_type,
|
||||
"Error Message": report.error_message,
|
||||
}
|
||||
)
|
||||
return csv_path
|
||||
|
||||
def _write_markdown(self, run_dir: Path, reports: Sequence[ScenarioReport]) -> Path:
|
||||
markdown_path = run_dir / "fdr-validation-summary.md"
|
||||
lines = [
|
||||
"# FDR Validation Summary",
|
||||
"",
|
||||
f"Run ID: `{run_dir.name}`",
|
||||
"",
|
||||
"| Test ID | Group | Result | Artifacts | Blocked Reason |",
|
||||
"|---------|-------|--------|-----------|----------------|",
|
||||
]
|
||||
for report in reports:
|
||||
artifact_paths = ", ".join(str(path) for path in report.artifacts)
|
||||
lines.append(
|
||||
"| "
|
||||
f"{report.scenario_id} | {report.group.value} | {report.result.value} | "
|
||||
f"{artifact_paths} | {report.error_message or ''} |"
|
||||
)
|
||||
markdown_path.write_text("\n".join(lines) + "\n", encoding="utf-8")
|
||||
return markdown_path
|
||||
|
||||
|
||||
def default_scenarios() -> tuple[ScenarioConfig, ...]:
|
||||
input_root = Path("_docs/00_problem/input_data")
|
||||
return (
|
||||
ScenarioConfig(
|
||||
scenario_id="FT-P-01",
|
||||
name="Still-image replay smoke",
|
||||
group=ScenarioGroup.BLACKBOX,
|
||||
input_dataset="project_60_still_images",
|
||||
required_paths=(input_root / "coordinates.csv",),
|
||||
controls={"cache_variant": "valid"},
|
||||
),
|
||||
ScenarioConfig(
|
||||
scenario_id="NFT-PERF-INFRA",
|
||||
name="Replay latency reporting smoke",
|
||||
group=ScenarioGroup.PERFORMANCE,
|
||||
input_dataset="project_60_still_images",
|
||||
required_paths=(input_root / "expected_results" / "results_report.md",),
|
||||
controls={"cache_variant": "valid"},
|
||||
),
|
||||
ScenarioConfig(
|
||||
scenario_id="NFT-RES-INFRA",
|
||||
name="Restart and blackout controls smoke",
|
||||
group=ScenarioGroup.RESILIENCE,
|
||||
input_dataset="sitl_spoofing_scenarios",
|
||||
required_services=("sitl",),
|
||||
controls={"flight_mode": "blackout"},
|
||||
),
|
||||
ScenarioConfig(
|
||||
scenario_id="NFT-SEC-INFRA",
|
||||
name="Invalid cache no-fetch smoke",
|
||||
group=ScenarioGroup.SECURITY,
|
||||
input_dataset="cache_integrity_fixtures",
|
||||
controls={"cache_variant": "stale"},
|
||||
),
|
||||
ScenarioConfig(
|
||||
scenario_id="NFT-RES-LIM-INFRA",
|
||||
name="Jetson resource gate smoke",
|
||||
group=ScenarioGroup.RESOURCE_LIMIT,
|
||||
input_dataset="jetson_resource_monitor",
|
||||
required_services=("jetson",),
|
||||
),
|
||||
)
|
||||
|
||||
|
||||
def _optional_float(value: float | None) -> str:
|
||||
return "" if value is None else f"{value:.3f}"
|
||||
|
||||
|
||||
def main(argv: Sequence[str] | None = None) -> int:
|
||||
parser = argparse.ArgumentParser(description="Run deterministic black-box replay scenarios.")
|
||||
parser.add_argument(
|
||||
"--output-dir",
|
||||
type=Path,
|
||||
default=Path("data/test-results"),
|
||||
help="Directory for run-scoped CSV and Markdown reports.",
|
||||
)
|
||||
args = parser.parse_args(argv)
|
||||
|
||||
result = BlackboxReplayRunner(output_root=args.output_dir).run()
|
||||
print(f"blackbox replay completed: {result.csv_path}")
|
||||
print(f"fdr validation summary: {result.markdown_path}")
|
||||
return 0
|
||||
@@ -1,13 +1,6 @@
|
||||
"""Replay runner entry point."""
|
||||
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def main() -> int:
|
||||
report_path = Path("e2e/reports/replay_smoke.txt")
|
||||
report_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
report_path.write_text("replay scaffold ready\n", encoding="utf-8")
|
||||
return 0
|
||||
from e2e.replay.harness import main
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -1,17 +1,12 @@
|
||||
"""Black-box runner entry point.
|
||||
"""Black-box runner entry point."""
|
||||
|
||||
Future scenarios should call only public runtime inputs and outputs: replay frames,
|
||||
telemetry, offline cache, MAVLink output, status events, and FDR artifacts.
|
||||
"""
|
||||
from collections.abc import Sequence
|
||||
|
||||
from pathlib import Path
|
||||
from e2e.replay.harness import main as replay_main
|
||||
|
||||
|
||||
def main() -> int:
|
||||
reports_dir = Path("data/test-results")
|
||||
reports_dir.mkdir(parents=True, exist_ok=True)
|
||||
(reports_dir / "blackbox_smoke.txt").write_text("blackbox scaffold ready\n", encoding="utf-8")
|
||||
return 0
|
||||
def main(argv: Sequence[str] | None = None) -> int:
|
||||
return replay_main(argv)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -0,0 +1,77 @@
|
||||
import csv
|
||||
from pathlib import Path
|
||||
|
||||
from e2e.replay.harness import (
|
||||
REPORT_COLUMNS,
|
||||
BlackboxReplayRunner,
|
||||
SatelliteCacheStub,
|
||||
ScenarioConfig,
|
||||
ScenarioGroup,
|
||||
ScenarioResult,
|
||||
)
|
||||
|
||||
|
||||
def test_replay_environment_reports_missing_prerequisites_as_blocked(tmp_path: Path) -> None:
|
||||
# Arrange
|
||||
scenario = ScenarioConfig(
|
||||
scenario_id="BLOCKED-INFRA",
|
||||
name="Blocked prerequisite smoke",
|
||||
group=ScenarioGroup.RESILIENCE,
|
||||
input_dataset="sitl_spoofing_scenarios",
|
||||
required_paths=(tmp_path / "missing-fixture.csv",),
|
||||
required_services=("sitl",),
|
||||
)
|
||||
|
||||
# Act
|
||||
result = BlackboxReplayRunner(output_root=tmp_path, scenarios=(scenario,)).run()
|
||||
|
||||
# Assert
|
||||
report = result.reports[0]
|
||||
assert report.result == ScenarioResult.BLOCKED
|
||||
assert "missing fixture path" in report.error_message
|
||||
assert "SITL prerequisite blocked" in report.error_message
|
||||
|
||||
|
||||
def test_satellite_cache_stub_is_deterministic_and_records_interactions() -> None:
|
||||
# Arrange
|
||||
stub = SatelliteCacheStub()
|
||||
|
||||
# Act
|
||||
first = stub.query_manifest("FT-P-01", "valid")
|
||||
second = stub.query_manifest("FT-P-01", "valid")
|
||||
|
||||
# Assert
|
||||
assert first == second
|
||||
assert first["network_fetch_attempted"] is False
|
||||
assert len(stub.interactions) == 2
|
||||
assert stub.interactions[0].service == "satellite-cache-stub"
|
||||
|
||||
|
||||
def test_runner_executes_all_required_groups_and_writes_reports(tmp_path: Path) -> None:
|
||||
# Act
|
||||
result = BlackboxReplayRunner(output_root=tmp_path).run()
|
||||
|
||||
# Assert
|
||||
assert result.completed_groups == set(ScenarioGroup)
|
||||
rows = list(csv.DictReader(result.csv_path.open(encoding="utf-8")))
|
||||
assert rows
|
||||
assert rows[0].keys() == set(REPORT_COLUMNS)
|
||||
assert {row["Result"] for row in rows} <= {"pass", "blocked"}
|
||||
|
||||
markdown = result.markdown_path.read_text(encoding="utf-8")
|
||||
assert "FDR Validation Summary" in markdown
|
||||
assert "SITL prerequisite blocked" in markdown
|
||||
assert "Jetson prerequisite blocked" in markdown
|
||||
|
||||
|
||||
def test_runner_keeps_generated_artifacts_run_scoped(tmp_path: Path) -> None:
|
||||
# Act
|
||||
result = BlackboxReplayRunner(output_root=tmp_path).run()
|
||||
|
||||
# Assert
|
||||
assert result.run_dir.parent == tmp_path
|
||||
assert result.csv_path.parent == result.run_dir
|
||||
assert result.markdown_path.parent == result.run_dir
|
||||
for report in result.reports:
|
||||
assert report.artifacts
|
||||
assert all(artifact.parent.parent == result.run_dir for artifact in report.artifacts)
|
||||
Reference in New Issue
Block a user