# Test Specification — VIO Adapter

## Acceptance Criteria Traceability

| AC ID | Acceptance Criterion | Test IDs | Coverage |
|-------|---------------------|----------|----------|
| AC-1.3 | Drift between anchors and anchor-age reporting input | IT-02, AT-01 | Covered |
| AC-2.1a | >95% VO registration on normal segments | IT-01, AT-01 | Covered |
| AC-2.2 | <1.0 px VO MRE | IT-01 | Covered |
| AC-3.1 | Handles 350 m outliers/tilt | IT-03 | Covered |
| AC-3.2 | Sharp turns trigger relocalization path | IT-04 | Covered |
| AC-3.4 | Loss threshold feeds relocalization/dead reckoning | IT-04 | Covered |
| AC-4.1 | Hot-path latency | PT-01 | Covered |
| AC-4.2 | Jetson memory budget | PT-01 | Covered |

## Blackbox Tests

### IT-01: Public Dataset VIO Replay

**Summary**: Verify the VIO adapter produces relative motion for synchronized camera/IMU replay.

**Traces to**: AC-2.1a, AC-2.2

**Input data**: Derkachi cropped nadir video + `SCALED_IMU2` + `GLOBAL_POSITION_INT`, MUN-FRL preferred slice, or representative synchronized nav-camera + IMU + ground truth.

**Expected result**: VO registration succeeds for >95% of normal usable frames; frame-to-frame MRE <1.0 px where ground-truth/feature evaluation supports it. Derkachi runs are accepted as calibration-limited until intrinsics, distortion, and camera-to-body transform are pinned.

**Max execution time**: Dataset-dependent; report per-frame latency.

**Dependencies**: Camera ingest, MAVLink telemetry/replay, calibration fixtures.

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### IT-02: Relative Drift Reporting

**Summary**: Verify adapter emits state needed for wrapper drift and anchor-age accounting.

**Traces to**: AC-1.3

**Input data**: Segment with two known satellite anchors and IMU samples.

**Expected result**: Adapter emits continuous `VioStatePacket` values with timestamps and quality, enabling wrapper to compare VO extrapolation to next anchor.

**Max execution time**: Dataset-dependent.

**Dependencies**: Safety wrapper test harness.

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### IT-03: Tilt/Outlier Robustness

**Summary**: Verify adapter reports degraded tracking without false success under tilt/outlier cases.

**Traces to**: AC-3.1

**Input data**: Replay segment with synthetic +/-20 degree tilt and up to 350 m apparent outlier.

**Expected result**: Adapter either tracks with quality metadata or emits `TrackingLost`; it never hides a failure as high-quality VIO.

**Max execution time**: 15 minutes per fixture.

---

### IT-04: Sharp Turn / Loss Signal

**Summary**: Verify sharp turns and disconnected visual overlap produce wrapper-visible failure signals.

**Traces to**: AC-3.2, AC-3.4

**Input data**: <5% overlap sequence with heading change <70 degrees.

**Expected result**: Adapter emits low tracking quality or `TrackingLost` within the loss window, allowing relocalization trigger.

**Max execution time**: 10 minutes.

## Performance Tests

### PT-01: VIO Adapter Runtime Budget

**Summary**: Verify VIO processing does not consume the full <400 ms system p95 budget.

**Traces to**: AC-4.1, AC-4.2

**Load scenario**:
- Input: Derkachi synchronized replay and public/representative replay.
- Duration: 30 minutes plus release long-run slice.
- Target: Jetson Orin Nano Super.

| Metric | Target | Failure Threshold |
|--------|--------|-------------------|
| Adapter p95 latency | <=250 ms | >300 ms |
| Memory contribution | <=3 GB | >4 GB |
| Tracking failure on normal segments | <5% | >=5% |

**Resource limits**: Total system memory remains below 8 GB.

## Security Tests

### ST-01: Timestamp Injection Rejection

**Summary**: Verify malformed or non-monotonic timestamps do not produce trusted VIO state.

**Traces to**: AC-NEW-4

**Attack vector**: Replay or telemetry timestamp manipulation.

**Test procedure**:
1. Feed non-monotonic frame and IMU timestamps.
2. Observe adapter output.

**Expected behavior**: Adapter returns `TimestampMismatch` or low-quality failure; wrapper does not trust the state.

**Pass criteria**: No high-quality VIO state is emitted from malformed timing.

## Acceptance Tests

### AT-01: Normal VIO State Contract

**Summary**: Confirm adapter output contract supports downstream localization.

**Traces to**: AC-1.3, AC-2.1a

| Step | Action | Expected Result |
|------|--------|-----------------|
| 1 | Initialize with calibrated frame/IMU config | `VioInitResult` succeeds |
| 2 | Replay normal frames | `VioStatePacket` includes timestamp, relative pose, velocity, tracking quality |
| 3 | End segment | State stream is continuous enough for wrapper drift accounting |

## Test Data Management

| Data Set | Description | Source | Size |
|----------|-------------|--------|------|
| `derkachi_video_telemetry` | Cropped nadir MP4 + synchronized IMU and `GLOBAL_POSITION_INT` trajectory | Project fixture | ~282 MB video + CSV |
| `public_nadir_vio_candidates` | MUN-FRL/ALTO/Kagaru/EPFL slices | Public pinned fixtures | Dataset-dependent |
| `representative_sync_replay` | Target camera + FC IMU + calibrated ground truth | Project collection | TBD |

**Setup procedure**: Pin calibration/extrinsics and mount read-only synchronized replay data.

**Teardown procedure**: Remove generated result reports and adapter temp state.

**Data isolation strategy**: One run directory per dataset slice and configuration hash.