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

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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>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-17 09:52:05 +03:00
parent 6554d568f1
commit f49d803252
22 changed files with 798 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files
e2e/tests/negative/test_ft_n_01_outlier_tolerance.py
+27 -6
View File
@@ -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 `${E2E_SITL_REPLAY_DIR}/gt_per_frame.json` (AZ-597).
The fixture builder writes a list of `{frame_idx, lat_deg, lon_deg}`
records keyed off `report.out_root.name` (one file per injection
variant). In FDR-replay mode this is the GT the SUT was scored
against when the FDR archive was originally produced.
"""
from runner.helpers.replay_mode import load_replay_json
raw = load_replay_json("gt_per_frame.json")
if not isinstance(raw, list):
raise ValueError(
"gt_per_frame.json must be a JSON list of "
"{frame_idx, lat_deg, lon_deg} records"
)
return [
ote.GtPose(
frame_idx=int(entry["frame_idx"]),
lat_deg=float(entry["lat_deg"]),
lon_deg=float(entry["lon_deg"]),
)
for entry in raw
]
e2e/tests/negative/test_ft_n_02_sharp_turn_failure.py
+8 -6
View File
@@ -130,12 +130,14 @@ def test_ft_n_02_sharp_turn_failure(
def _resolve_frame_sink(): # type: ignore[no-untyped-def]
raise NotImplementedError(
"frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
)
"""Return a replay-mode `FrameSink` (counter-only; AZ-597)."""
from runner.helpers.replay_mode import NullFrameSink
return NullFrameSink()
def _drive_imu_replay(csv_path: Path) -> None:
raise NotImplementedError(
"IMU replay driver is owned by AZ-416/AZ-417 / runner.helpers.imu_replay"
)
"""Replay-mode no-op: IMU samples pre-baked into FDR archive (AZ-597)."""
from runner.helpers.replay_mode import imu_replay_noop
imu_replay_noop(csv_path)
e2e/tests/negative/test_ft_n_03_outage_reloc.py
+12 -10
View File
@@ -149,19 +149,21 @@ def test_ft_n_03_outage_reloc(
def _resolve_outage_injection_frames() -> Path:
raise NotImplementedError(
"3-frame outage injector is owned by AZ-408 extension / "
"fixtures/injectors/outlier.py (--all-zero variant)"
)
"""Resolve `${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
+8 -6
View File
@@ -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()