[AZ-233] Update Docker Compose and enhance test documentation

- Modified the Docker Compose configuration to include an input root for replay tests and added an environment variable for enabling SITL.
- Enhanced documentation for various testing processes, including the addition of a Runtime Completeness Decomposition Gate and clarifications on internal module testing requirements.
- Updated the implementation completeness report to reflect the current state and added new test cases for performance and resilience scenarios.

Co-authored-by: Cursor <cursoragent@cursor.com>

e2e/replay/harness.py

@@ -221,10 +221,11 @@ class BlackboxReplayRunner:
     def __init__(
         self,
         output_root: Path = Path("data/test-results"),
+        input_root: Path = Path("_docs/00_problem/input_data"),
         scenarios: Sequence[ScenarioConfig] | None = None,
     ) -> None:
         self.output_root = output_root
-        self.scenarios = tuple(scenarios or default_scenarios())
+        self.scenarios = tuple(scenarios or default_scenarios(input_root))
         self.environment = TestEnvironment(output_root)
         self.satellite_cache = SatelliteCacheStub()
         self.ardupilot_sitl = ArdupilotSitlStub()
@@ -277,11 +278,25 @@ class BlackboxReplayRunner:
             interactions.extend(self.satellite_cache.interactions[cache_interaction_count:])
             interactions.extend(self.ardupilot_sitl.interactions[sitl_interaction_count:])
             interactions.extend(self.qgc_observer.interactions[observer_interaction_count:])
-            result = ScenarioResult.PASS if cache_response["trusted"] else ScenarioResult.BLOCKED
+            cache_rejection_expected = scenario.controls.get("expect_cache_rejection") == "true"
+            cache_rejected_safely = (
+                cache_rejection_expected
+                and cache_response["trusted"] is False
+                and cache_response["network_fetch_attempted"] is False
+            )
+            result = (
+                ScenarioResult.PASS
+                if cache_response["trusted"] or cache_rejected_safely
+                else ScenarioResult.BLOCKED
+            )
             error_message = "" if result == ScenarioResult.PASS else "cache fixture is not trusted"
-            source_label = "satellite_anchored" if result == ScenarioResult.PASS else "degraded"
-            covariance = 12.5 if result == ScenarioResult.PASS else None
-            gps_fix_type = int(str(sitl_response["fix_type"])) if result == ScenarioResult.PASS else 0
+            source_label = (
+                "satellite_anchored"
+                if cache_response["trusted"]
+                else "untrusted_cache_rejected"
+            )
+            covariance = 12.5 if cache_response["trusted"] else None
+            gps_fix_type = int(str(sitl_response["fix_type"])) if cache_response["trusted"] else 0
 
         scenario_dir = run_dir / scenario.scenario_id
         scenario_dir.mkdir(parents=True, exist_ok=True)
@@ -363,8 +378,7 @@ class BlackboxReplayRunner:
         return markdown_path
 
 
-def default_scenarios() -> tuple[ScenarioConfig, ...]:
-    input_root = Path("_docs/00_problem/input_data")
+def default_scenarios(input_root: Path = Path("_docs/00_problem/input_data")) -> tuple[ScenarioConfig, ...]:
     return (
         ScenarioConfig(
             scenario_id="FT-P-01",
@@ -395,7 +409,7 @@ def default_scenarios() -> tuple[ScenarioConfig, ...]:
             name="Invalid cache no-fetch smoke",
             group=ScenarioGroup.SECURITY,
             input_dataset="cache_integrity_fixtures",
-            controls={"cache_variant": "stale"},
+            controls={"cache_variant": "stale", "expect_cache_rejection": "true"},
         ),
         ScenarioConfig(
             scenario_id="NFT-RES-LIM-INFRA",
@@ -601,9 +615,15 @@ def main(argv: Sequence[str] | None = None) -> int:
         default=Path("data/test-results"),
         help="Directory for run-scoped CSV and Markdown reports.",
     )
+    parser.add_argument(
+        "--input-root",
+        type=Path,
+        default=Path(os.environ.get("GPSD_REPLAY_INPUT_ROOT", "_docs/00_problem/input_data")),
+        help="Directory containing replay input fixtures.",
+    )
     args = parser.parse_args(argv)
 
-    result = BlackboxReplayRunner(output_root=args.output_dir).run()
+    result = BlackboxReplayRunner(output_root=args.output_dir, input_root=args.input_root).run()
     print(f"blackbox replay completed: {result.csv_path}")
     print(f"fdr validation summary: {result.markdown_path}")
     return 0