C7 inference (PytorchFp16Runtime / TensorRTRuntime / OnnxTrtEpRuntime)
is CUDA-only by design — `model.half().cuda()` is hard-wired with no
CPU fallback. The Colima/Tier-1 smoke harness can never exercise C3
matcher or C7 inference. Once AZ-614 fixes the tlog time-base mismatch
and the pipeline reaches those stages, Colima runs would hard-fail at
`.cuda()` instead of cleanly skipping.
This commit lays down the Jetson companion harness and wires the
existing `tier2` auto-skip:
* tests/e2e/Dockerfile.jetson — l4t-pytorch:r36.4.0-pth2.3-py3 base,
same /opt layout as the Colima image so AC-4 AST scan + bind mounts
work identically. Built ON the Jetson via run-tests-jetson.sh.
* docker-compose.test.jetson.yml — mirrors docker-compose.test.yml
but with `runtime: nvidia`, GPU device exposure, and
GPS_DENIED_TIER=2 (turns OFF the tier2 auto-skip).
* scripts/run-tests-jetson.sh — rsync → ssh build → ssh up,
exit-code-from e2e-runner so the local exit code reflects the
remote test verdict. No credentials in the repo; uses
`ssh jetson-e2e` alias resolved via ~/.ssh/config.
* _docs/03_implementation/jetson_harness_setup.md — one-time SSH
key + alias + sshd hardening + GPU verification steps. Documents
the smoke vs. Reality Gate split + the GPS_DENIED_TIER switch.
AZ-617 (mark heavy ACs with tier2): adds @pytest.mark.tier2 to AC-1,
AC-2, AC-3, AC-5, AC-6 in tests/e2e/replay/test_derkachi_1min.py.
Reuses the existing tier2 marker + auto-skip in tests/conftest.py
(scope revision documented as a comment on AZ-617). AC-4a/4b/AC-7/AC-9
stay unmarked — they don't touch CUDA.
Defers to follow-up Jira:
* AZ-614 — Derkachi tlog synth time-base mismatch (unblocks tier2 ACs
actually reaching the GPU stage on the Jetson)
* AZ-616 — replace mock-sat with real ../satellite-provider service
Not run yet: the harness needs operator-side SSH setup to come online
before scripts/run-tests-jetson.sh can be executed end-to-end. Setup
steps documented in jetson_harness_setup.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Multi-stage Ubuntu 22.04 e2e-runner image installs gps-denied-onboard
(editable) into /opt/venv so the AZ-404 replay tests can subprocess
gps-denied-replay against the Derkachi fixture. Image layout mirrors
the host repo (/opt/pyproject.toml + /opt/src + /opt/tests bind mount)
so Path(__file__).parents[3] resolves to /opt and AC-4's AST scan
finds the components dir.
Entrypoint now runs `pytest /opt/tests/e2e/` instead of the empty
`scenarios/` dir. The bootstrap harness collects 24 tests vs. 0 before.
Compose: e2e-runner env mirrors the companion service (FullSystemConfig
requirements) plus RUN_REPLAY_E2E=1, BUILD_REPLAY_SINK_JSONL=ON;
bind-mounts the Derkachi fixture dir; adds writable fdr-data /
tile-data volumes the SUT requires.
Reality Gate signal is now real: 17 pass / 5 fail / 1 skip / 1 xfail.
The 5 heavy-AC failures share root cause AZ-614 (tlog synth time-base
mismatch, surfaced by the now-functional harness).
Also archives the replayed leftover entries (csv_reporter -> AZ-601,
harness rehab -> AZ-602 epic + 11 child stories).
Co-authored-by: Cursor <cursoragent@cursor.com>
All FC adapter outbound MAVLink bytes now go through the AZ-401
MavlinkTransport seam (NoopMavlinkTransport in replay,
SerialMavlinkTransport in live). New helpers in
_outbound_mavlink_payloads.py extract encode/pack/seq-bump so the four
AP _send sites and the iNav statustext _send site become
encode -> pack -> transport.write. TlogReplayFcAdapter emits real
AP-shape MAVLink bytes through the injected NoopMavlinkTransport,
satisfying replay protocol Invariant 5 and unblocking AZ-401 AC-9.
Closes AZ-558. Also unskips AZ-401 AC-9 and AZ-404 AC-4b. Live wire
output remains byte-identical (proven via two-instance MAVLink
byte-equivalence tests). AST scan asserts no .mav.<name>_send( calls
remain in the retrofit set (AP / iNav / tlog adapters).
Out of scope (logged in review): GCS adapter retrofit; airborne live
strategy registration that would activate the SerialMavlinkTransport
factory injection path.
Tests: 2110 passed, 92 environmental skips, 1 unrelated pre-existing
macOS cold-start flake deselected.
Co-authored-by: Cursor <cursoragent@cursor.com>
Add the initial source, test, infrastructure, CI, configuration, and evidence-path scaffold so dependent implementation tasks have stable package and runtime boundaries.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh