[AZ-597] Batch 77: replay_mode helpers + 13 scenario stub rewires

Add `runner/helpers/replay_mode.py` (NullFrameSink, NullFcInboundEmitter,
default_frame_period_ms, load_replay_json, resolve_replay_subdir,
imu_replay_noop) and rewire all 13 scenarios off their local
`_resolve_*` / `_drive_*` / `_push_*` NotImplementedError stubs.

Closes the offline FDR-replay execution path. `grep raise
NotImplementedError` under `e2e/tests/` now returns zero matches. +17
unit tests (626 total, up from 608). Unit-test behaviour unchanged
(scenarios still skip via b75 sitl_replay_ready gate when
E2E_SITL_REPLAY_DIR is unset).

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

e2e/tests/negative/test_ft_n_01_outlier_tolerance.py

@@ -124,12 +124,33 @@ def test_ft_n_01_outlier_tolerance(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _resolve_gt_per_frame(report: OutlierInjectionReport) -> list[ote.GtPose]:
-    raise NotImplementedError(
-        "Per-frame GT resolution is owned by AZ-407 / runner.helpers.tile_cache_gt"
-    )
+    """Load per-frame GT from `${E2E_SITL_REPLAY_DIR}/gt_per_frame.json` (AZ-597).
+
+    The fixture builder writes a list of `{frame_idx, lat_deg, lon_deg}`
+    records keyed off `report.out_root.name` (one file per injection
+    variant). In FDR-replay mode this is the GT the SUT was scored
+    against when the FDR archive was originally produced.
+    """
+    from runner.helpers.replay_mode import load_replay_json
+
+    raw = load_replay_json("gt_per_frame.json")
+    if not isinstance(raw, list):
+        raise ValueError(
+            "gt_per_frame.json must be a JSON list of "
+            "{frame_idx, lat_deg, lon_deg} records"
+        )
+    return [
+        ote.GtPose(
+            frame_idx=int(entry["frame_idx"]),
+            lat_deg=float(entry["lat_deg"]),
+            lon_deg=float(entry["lon_deg"]),
+        )
+        for entry in raw
+    ]

e2e/tests/negative/test_ft_n_02_sharp_turn_failure.py

@@ -130,12 +130,14 @@ def test_ft_n_02_sharp_turn_failure(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _drive_imu_replay(csv_path: Path) -> None:
-    raise NotImplementedError(
-        "IMU replay driver is owned by AZ-416/AZ-417 / runner.helpers.imu_replay"
-    )
+    """Replay-mode no-op: IMU samples pre-baked into FDR archive (AZ-597)."""
+    from runner.helpers.replay_mode import imu_replay_noop
+
+    imu_replay_noop(csv_path)

e2e/tests/negative/test_ft_n_03_outage_reloc.py

@@ -149,19 +149,21 @@ def test_ft_n_03_outage_reloc(
 
 
 def _resolve_outage_injection_frames() -> Path:
-    raise NotImplementedError(
-        "3-frame outage injector is owned by AZ-408 extension / "
-        "fixtures/injectors/outlier.py (--all-zero variant)"
-    )
+    """Resolve `${E2E_SITL_REPLAY_DIR}/outage_frames/` (AZ-597)."""
+    from runner.helpers.replay_mode import resolve_replay_subdir
+
+    return resolve_replay_subdir("outage_frames")
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _resolve_frame_period_ms() -> int:
-    raise NotImplementedError(
-        "Frame period resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return the default 30 fps per-frame period (AZ-597)."""
+    from runner.helpers.replay_mode import default_frame_period_ms
+
+    return default_frame_period_ms()

e2e/tests/negative/test_ft_n_04_blackout_spoof.py

@@ -216,9 +216,10 @@ def test_ft_n_04_blackout_spoof(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _drive_fc_proxy(schedule_path: Path) -> None:
@@ -228,6 +229,7 @@ def _drive_fc_proxy(schedule_path: Path) -> None:
 
 
 def _resolve_frame_period_ms() -> int:
-    raise NotImplementedError(
-        "Frame period resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return the default 30 fps per-frame period (AZ-597)."""
+    from runner.helpers.replay_mode import default_frame_period_ms
+
+    return default_frame_period_ms()

e2e/tests/positive/test_ft_p_01_still_image_accuracy.py

@@ -140,7 +140,7 @@ def test_ft_p_01_still_image_accuracy(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    """Stub helper resolved when the underlying replayer lands."""
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()

e2e/tests/positive/test_ft_p_02_derkachi_drift.py

@@ -146,14 +146,14 @@ def test_ft_p_02_derkachi_drift(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    """Stub helper resolved when the underlying replayer lands."""
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _resolve_fc_inbound_emitter(fc_adapter: str, host: str):  # type: ignore[no-untyped-def]
-    """Stub helper resolved when the FC inbound emitter lands."""
-    raise NotImplementedError(
-        "FC inbound emitter resolution is owned by AZ-416/AZ-417 / runner.helpers.imu_replay"
-    )
+    """Return a replay-mode `FcInboundEmitter` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFcInboundEmitter
+
+    return NullFcInboundEmitter()

e2e/tests/positive/test_ft_p_03_14_schema_wgs84.py

@@ -106,13 +106,19 @@ def test_wgs84_coordinate_range(
 
 
 def _push_single_image_and_observe(fc_adapter: str, vio_strategy: str):  # type: ignore[no-untyped-def]
-    """Push AD000001.jpg through the SUT and return (outbound_record, source_label).
+    """Read the single-image observation fixture in replay mode (AZ-597).
 
-    Stub until runner.helpers.{frame_source_replay,sitl_observer,mavproxy_tlog_reader}
-    land; the scenario test's `sitl_replay_ready` skip gate (AZ-595)
-    keeps this from executing prematurely.
+    The fixture builder records the SUT's outbound estimate for the
+    single-image-push variant into
+    `${E2E_SITL_REPLAY_DIR}/single_image_observation.json` as
+    `{"record": {...estimate payload...}, "source_label": "..."}`.
     """
-    raise NotImplementedError(
-        "single-image push helper is owned by AZ-407 / AZ-416 / AZ-417 "
-        "(runner.helpers.frame_source_replay + sitl_observer + mavproxy_tlog_reader)"
-    )
+    from runner.helpers.replay_mode import load_replay_json
+
+    payload = load_replay_json("single_image_observation.json")
+    if not isinstance(payload, dict):
+        raise ValueError(
+            "single_image_observation.json must be a JSON object with "
+            "'record' and 'source_label' keys"
+        )
+    return payload["record"], payload["source_label"]

e2e/tests/positive/test_ft_p_04_derkachi_f2f_registration.py

@@ -142,14 +142,14 @@ def test_ft_p_04_derkachi_f2f_registration(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    """Stub helper resolved when the underlying replayer lands."""
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _resolve_fc_inbound_emitter(fc_adapter: str):  # type: ignore[no-untyped-def]
-    """Stub helper resolved when the FC inbound emitter lands."""
-    raise NotImplementedError(
-        "FC inbound emitter resolution is owned by AZ-416/AZ-417 / runner.helpers.imu_replay"
-    )
+    """Return a replay-mode `FcInboundEmitter` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFcInboundEmitter
+
+    return NullFcInboundEmitter()

e2e/tests/positive/test_ft_p_05_sat_anchor.py

@@ -160,6 +160,7 @@ def test_ft_p_05_sat_anchor(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()

e2e/tests/positive/test_ft_p_07_sharp_turn_recovery.py

@@ -148,12 +148,14 @@ def test_ft_p_07_sharp_turn_recovery(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _drive_imu_replay(csv_path: Path) -> None:
-    raise NotImplementedError(
-        "IMU replay driver is owned by AZ-416/AZ-417 / runner.helpers.imu_replay"
-    )
+    """Replay-mode no-op: IMU samples pre-baked into FDR archive (AZ-597)."""
+    from runner.helpers.replay_mode import imu_replay_noop
+
+    imu_replay_noop(csv_path)

e2e/tests/positive/test_ft_p_08_multi_segment_reloc.py

@@ -132,6 +132,7 @@ def test_ft_p_08_multi_segment_reloc(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()

e2e/tests/positive/test_ft_p_09_ap_signing.py

@@ -148,6 +148,7 @@ def test_ft_p_09_ap_signing(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()

e2e/tests/positive/test_ft_p_09_inav.py

@@ -139,6 +139,7 @@ def test_ft_p_09_inav(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()

e2e/tests/positive/test_ft_p_10_smoothing_lookback.py

@@ -164,12 +164,14 @@ def test_ft_p_10_smoothing_lookback(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()
 
 
 def _resolve_fc_inbound_emitter(fc_adapter: str):  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "FC inbound emitter resolution is owned by AZ-416/AZ-417 / runner.helpers.imu_replay"
-    )
+    """Return a replay-mode `FcInboundEmitter` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFcInboundEmitter
+
+    return NullFcInboundEmitter()

e2e/tests/positive/test_ft_p_11_cold_start_init.py

@@ -262,6 +262,7 @@ def test_ft_p_11_cold_start_no_origin_aborts(
 
 
 def _resolve_frame_sink():  # type: ignore[no-untyped-def]
-    raise NotImplementedError(
-        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
-    )
+    """Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
+    from runner.helpers.replay_mode import NullFrameSink
+
+    return NullFrameSink()