mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 22:21:13 +00:00
c6e6cba237da1377f2143ff0dfd24a58a25195fe
5 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Oleksandr Bezdieniezhnykh
|
c6e6cba237 |
[AZ-414] [AZ-415] [AZ-418] Test batch 71: sharp turn + multi-segment + smoothing
- AZ-414 (FT-P-07 + FT-N-02): sharp_turn_detector helper covering AC-1 (gyro_z run detection + synthetic-overlay fallback), AC-2/AC-3 (FT-N-02 during-turn label + monotonic covariance), AC-4/AC-5/AC-6 (FT-P-07 recovery lag/drift/heading); twin scenario files under positive/ and negative/. - AZ-415 (FT-P-08): multi_segment_evaluator helper + scenario. - AZ-418 (FT-P-10): smoothing_evaluator helper covering AC-1 (raw + smoothed pose pairing), AC-2 (improvement rate >= 0.80), AC-3 (mean improvement >= 5 m); scenario file. - All scenarios skip-gated on upstream frame_source_replay / imu_replay / fdr_reader stubs (auto-activate when AZ-441 + AZ-407 leftovers land). - +68 unit tests; full e2e unit suite: 393 passed. See _docs/03_implementation/batch_71_report.md and _docs/03_implementation/reviews/batch_71_review.md. Co-authored-by: Cursor <cursoragent@cursor.com> |
||
|
Oleksandr Bezdieniezhnykh
|
29ac16cfcb |
[AZ-409] [AZ-412] [AZ-413] Batch 70: FT-P-01/04/05/06 scenarios
AZ-409 (3pt) — FT-P-01 still-image frame-center accuracy: - accuracy_evaluator.py: GT loader + Vincenty error + AC-2/AC-3 pass-counts - test_ft_p_01_still_image_accuracy.py: scenario gated on frame_source_replay + sitl_observer NotImplementedError; AC-4 timeout discipline AZ-412 (3pt) — FT-P-04 Derkachi f2f registration >=95% on normal segments: - registration_classifier.py: accel-derived attitude + overlap heuristic + success ratio with AC-3 sharp-turn exclusion - test_ft_p_04_derkachi_f2f_registration.py: scenario gated on frame_source_replay + imu_replay + fdr_reader AZ-413 (3pt) — FT-P-05 + FT-P-06 cross-domain MRE budgets: - mre_evaluator.py: per-image budget (strict <2.5px) + 95th-percentile via numpy linear interp + combined report - test_ft_p_05_sat_anchor.py: cross-domain scenario, reuses accuracy_evaluator for geodesic join - test_ft_p_06_mre_budgets.py: pure piggyback on FT-P-04 + FT-P-05 CSV evidence; skips when either upstream CSV missing Tests: 325 unit tests pass (+77 vs batch 69). Reports: batch_70_report.md, batch_70_review.md (PASS). Co-authored-by: Cursor <cursoragent@cursor.com> |
||
|
Oleksandr Bezdieniezhnykh
|
702a0c0ff3 |
[AZ-408] [AZ-410] [AZ-411] Batch 69: synth injectors + FT-P-02/03/14
AZ-408 (3pt) — Replace AZ-406 injector scaffolds with concrete generators: - outlier.py: deterministic stride + far-away tile replacement; AC-2 ≥350m offset - blackout_spoof.py: paired video blackout + FC GPS spoof with ≤40ms alignment; AC-4 realistic fix_type/hdop; AC-NEW-8 200-500m inter-spoof deltas - multi_segment.py: ≥3 disjoint windows, ≥30s gaps, ≤25% coverage - fc_proxy.py: timed-splice runtime proxy with pre-activate RuntimeError guard - _common.py: derive_rng + tile-manifest reader + tmpfs helpers - injector_fixtures.py: pytest fixtures wired via runner conftest AZ-410 (3pt) — FT-P-02 cumulative drift between satellite anchors: - anchor_pair_detector.py: AC-1 detection, AC-2/3 pass-fraction, AC-4 monotonicity check, CSV evidence - test_ft_p_02_derkachi_drift.py: scenario gated on upstream helper NotImplementedError (frame_source_replay / fdr_reader / imu_replay) AZ-411 (2pt) — FT-P-03 + FT-P-14 schema + WGS84: - estimate_schema.py: AC-1 schema completeness, AC-2 source-label set containment, AC-3 WGS84 range + int32 1e-7 decode - test_ft_p_03_14_schema_wgs84.py: shared single-image-push scenario Tests: 248 unit tests pass (+91 vs batch 68). Reports: batch_69_report.md, batch_69_review.md (PASS), cumulative_review_batches_67-69_cycle1_report.md (PASS). Co-authored-by: Cursor <cursoragent@cursor.com> |
||
|
Oleksandr Bezdieniezhnykh
|
6599d828d2 |
[AZ-407] [AZ-444] [AZ-445] Batch 68: fixtures, Tier-2 harness, NFR reporter
Three blackbox-harness tasks landed together — all depend only on
AZ-406 and unblock the FT-* / NFT-* scenario tasks scheduled for
batches 69+.
AZ-407 — Static fixture builders (3pt):
* tile-cache-builder/{builder.py, Dockerfile, build.sh} produces a
deterministic tile-cache-fixture Docker volume from
_docs/00_problem/input_data/. Reproducibility primitives: sorted
iteration, frozen PIL JPEG settings, FAISS HNSW32 built single-
threaded with seeded stub descriptors.
* age-injector/{age_injector.py, inject.sh} clones the volume and
shifts capture_date by N×30.44 days; tile JPEG bytes preserved
bit-identical. Emits synth-age-7mo + synth-age-13mo volumes.
* cold-boot/cold_boot_fixture.json: frozen FC pose snapshot at
Derkachi sector centre, schema v1.
* secrets/mavlink-test-passkey.txt: 64-hex with required
`# TEST ONLY` header line per AC-5. Passkey-equality test now
compares the secret line after stripping the header.
* security/cve-2025-53644.jpg: synthetic 158-byte malformed JPEG
(truncated SOS marker). OpenCV 4.11.x rejects gracefully with
imdecode → None. AZ-439 will sharpen for ASan instrumentation.
* Top-level Makefile with `make fixtures` / `make fixtures-*` /
`make e2e-tier1*` / `make unit-tests` targets.
AZ-444 — Tier-2 Jetson harness wrapper (5pt):
* run-tier2.sh rewritten as orchestrator. Detects local
(aarch64 + TIER2_HOST=localhost) vs remote (ssh into TIER2_HOST).
New flags: -k/--selector, --build-kind production|asan,
--reflash (gated behind TIER2_REFLASH_ACK=1 two-key gate),
--dry-run.
* tier2-on-jetson.sh (new) — on-device delegate. Verifies
gps-denied-onboard{,-asan}.service health; restarts with 5s
tolerance; spawns tegrastats + jtop parallel samplers; tails
ASan unit's journal in asan mode; drives docker compose with
TIER=tier2-jetson; forwards SELECTOR to pytest -k.
* docker/run-tier1.sh (new) — selector-parity sibling.
* AC-1 (selector parity) and AC-6 (reflash gating) unit-tested via
--dry-run output assertions. AC-2/AC-3/AC-4/AC-5 are hardware-
loop ACs verified by the Tier-2 runtime smoke (no Jetson in the
unit-test layer).
AZ-445 — CSV reporter + evidence bundler refinements (2pt):
* reporting/nfr_recorder.py (new) — pytest plugin. Provides the
`nfr_recorder` fixture with record_metric(name, value, ac_id)
and partial(ac_id, reason). At session end emits:
- per-nfr/<scenario_id>.json (AC-1)
- traceability-status.json with every AC ID parsed from
traceability-matrix.md, classified Covered/PARTIAL/NOT
COVERED with source scenario IDs (AC-2)
- regression-baseline.json with all numeric metrics (AC-3)
* csv_reporter.py extended — `_outcome_to_result` consults the
aggregator; rows flip PASS → PARTIAL when an AC was marked
PARTIAL by nfr_recorder (AC-4). Graceful fallback when
aggregator isn't registered (unit-test contexts).
* conftest.py registers nfr_recorder in pytest_plugins.
* New --traceability-matrix CLI flag seeds the NOT COVERED rows.
Build / config:
* pyproject.toml dev extras: added Pillow>=10.4,<13.0 for the
tile-cache-builder unit test (broad enough to keep torchvision's
Pillow 12 pin happy; the production builder runs inside its own
Docker image with its own pin).
* Updated test_directory_layout.py to cover 10 new files + replaced
the byte-equal passkey assertion with the header-stripping
variant.
Test results:
* 157 focused tests pass (was 97 in batch 67; +60 new across this
batch). No regressions.
Module-layout / spec drift:
* AZ-407 spec text says `tests/fixtures/...`; module-layout
blackbox_tests entry (commit
|
||
|
Oleksandr Bezdieniezhnykh
|
59d9116d36 |
[AZ-406] Blackbox test harness bootstrap (Tier-1 + Tier-2 scaffold)
Bootstraps the public-boundary blackbox test harness owned by epic
AZ-262 (E-BBT). Establishes the e2e/ directory tree at the repo root,
fully separated from src/gps_denied_onboard/** and from the in-process
tests/** tree, and commits to the contracts every subsequent test
ticket (AZ-407..AZ-446) builds against.
Tier-1 (workstation Docker):
- docker/docker-compose.test.yml wires SUT + ArduPilot SITL + iNav SITL
+ mock Suite Sat Service + mavproxy listener + e2e-runner onto one
e2e-net bridge with internal: true (enforces RESTRICT-SAT-1 /
NFT-SEC-02 egress isolation at the network layer).
- docker/docker-compose.tier2-bridge.yml override disables the in-
compose SUT so Tier-2 pairs SITLs + mock + runner on an x86 host
while the SUT runs natively on the Jetson under systemd.
Tier-2 (Jetson):
- jetson/run-tier2.sh + tier2.service systemd unit + tegrastats /
jtop parsers feed per-sample telemetry into the evidence bundle.
Runner image (e2e/runner/):
- Dockerfile + requirements.txt install ONLY ground-side libs
(pymavlink, opencv-python>=4.12, numpy/scipy/geopy/pyproj, httpx,
orjson, pydantic, structlog, pytest 8.x). The runner deliberately
does NOT install the SUT package.
- conftest.py implements the AC-9 skip-rule mapping (tier2_only,
chamber_only, vins_mono, deferred_ac) tied to environment.md
parametrize axes.
- reporting/csv_reporter.py is a pytest plugin emitting one row per
test with the exact 11-column schema from environment.md §
Reporting (test_id, test_name, traces_to, fc_adapter, vio_strategy,
tier, started_at_utc, execution_time_ms, result, error_message,
evidence_paths). XFAIL surfaced only when a test carries
@pytest.mark.deferred_ac(verdict="xfail", reason=...).
- reporting/evidence_bundler.py exposes the attach_evidence fixture
that copies per-test artifacts (.tlog, FDR archives, screenshots,
tegrastats / jtop CSVs) into the run bundle and records relative
paths into the reporter's evidence_paths column.
- helpers/{frame_source_replay,imu_replay,sitl_observer,
mavproxy_tlog_reader,fdr_reader}.py declare the public surfaces
(concrete implementations owned by AZ-407 / AZ-408 / AZ-416 /
AZ-417 / AZ-441 per the dependency table); helpers/geo.py ships
today (no downstream task dep) — WGS84 distance / forward-bearing
/ offset via pyproj with NaN rejection.
Mock Suite Sat Service (e2e/fixtures/mock-suite-sat/):
- FastAPI app: POST /tiles (ingest contract from D-PROJ-2 follow-up),
GET /tiles/audit + /mock/audit (per-run read-back), POST
/mock/config (force-status, response delay), POST /mock/reset
(clears audit between tests), GET /mock/health.
Fixture scaffolds (e2e/fixtures/{tile-cache-builder, age-injector,
injectors, cold-boot, secrets, security}/):
- Public surfaces only. Concrete builders land in AZ-407 (static
fixtures), AZ-408 (runtime synthetic injection), AZ-419 (cold-boot
fixture), AZ-439 (CVE-2025-53644 JPEG generator).
Test tree (e2e/tests/{positive,negative,performance,resilience,
security,resource_limit}/):
- Mirror of the test-spec category grouping in
_docs/02_document/tests/*-tests.md.
- tests/positive/test_smoke.py is the AC-1 harness-boot smoke run
inside the e2e-runner image once Docker brings everything up.
Out-of-container unit tests (e2e/_unit_tests/):
- Exercises the harness internals (CSV reporter plugin lifecycle,
conftest skip rules, helper modules, parsers, mock app, compose
YAML structural contract, public-boundary enforcement) without
Docker / SITL. 97 unit tests, all passing.
Build / config:
- pyproject.toml: testpaths extended with e2e/_unit_tests; pythonpath
extended with e2e; fastapi>=0.111,<0.120 added to dev extras for the
mock-app TestClient unit test.
AC coverage:
- AC-1 (Tier-1 boot) → compose YAML test + directory layout
+ smoke test (Docker-bound)
- AC-2 (mock services) → 6 FastAPI TestClient unit tests
- AC-3 (SITLs accept output) → contract present; concrete check
deferred to AZ-416 / AZ-417
- AC-4 (CSV columns) → in-process plugin lifecycle test
emits the exact 11-column schema
- AC-5 (egress isolation) → static config test + runtime probe
in Docker-bound smoke
- AC-6 (Tier-2 contract) → tegrastats + jtop parser unit tests
+ jetson/* layout test; full Tier-2
contract is AZ-444
- AC-7 (fixture reproducibility) → deferred to AZ-407 per task spec
- AC-8 (parametrize matrix) → vins_mono skip-rule cases +
tests/positive/test_smoke
- AC-9 (skip semantics) → 9 conftest skip-rule unit tests
Module layout entry for blackbox_tests was added in 2026-05-16
preparatory commit
|