mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 19:51:12 +00:00
Oleksandr Bezdieniezhnykh
82 lines
3.8 KiB
Markdown
82 lines
3.8 KiB
Markdown
# E2E Test Suite
|
|
|
|
## Scope
|
|
|
|
The e2e test suite is separate test tooling, not part of the onboard runtime. It drives black-box replay, public dataset, SITL, Jetson, and representative validation through public runtime interfaces only.
|
|
|
|
## Purpose
|
|
|
|
- Feed navigation frames, telemetry traces, cache manifests, and fault triggers into the system under test.
|
|
- Validate emitted coordinates, confidence fields, MAVLink `GPS_INPUT`, QGC status, FDR, and generated-tile evidence.
|
|
- Produce release evidence without importing runtime internals.
|
|
|
|
## Ownership
|
|
|
|
- **Epic**: AZ-217 (E2E Test Suite / test-support work, not product runtime)
|
|
- **Owns**:
|
|
- `tests/blackbox/**`
|
|
- `tests/e2e/**`
|
|
- `e2e/replay/**`
|
|
- `e2e/reports/**`
|
|
- **Does not own**:
|
|
- `src/**`
|
|
- runtime component internals
|
|
- production deployment code
|
|
|
|
## Public Interfaces Under Test
|
|
|
|
| Interface | Protocol / Contract |
|
|
|-----------|---------------------|
|
|
| Navigation frames | Ordered image/video replay with timestamps |
|
|
| FC telemetry | MAVLink replay or generated stream |
|
|
| Satellite cache | Local COG + manifest + descriptor fixtures |
|
|
| GPS output | MAVLink `GPS_INPUT` |
|
|
| Operator status | QGC-visible MAVLink status |
|
|
| FDR | Filesystem/database-backed evidence outputs |
|
|
|
|
## Runner Contract
|
|
|
|
| Method | Input | Output | Error Types |
|
|
|--------|-------|--------|-------------|
|
|
| `run_scenario` | `ScenarioRequest` | `ScenarioReport` | `FixtureInvalid`, `RuntimeFailed`, `ThresholdFailed` |
|
|
| `validate_fixture` | `FixtureRequest` | `FixtureValidationReport` | `FixtureInvalid` |
|
|
|
|
```yaml
|
|
ScenarioRequest:
|
|
scenario_id: string
|
|
execution_environment: enum(replay, sitl, jetson, representative)
|
|
fixture_paths: list[string]
|
|
|
|
ScenarioReport:
|
|
scenario_id: string
|
|
result: enum(pass, fail, blocked)
|
|
metrics: object
|
|
artifacts: list[path]
|
|
failure_reason: string optional
|
|
```
|
|
|
|
## Scenario Coverage
|
|
|
|
| Scenario | Purpose | Evidence |
|
|
|----------|---------|----------|
|
|
| Still-image accuracy runner | Verify project still-image replay reports frame-center accuracy | Per-image error, aggregate pass rates, covariance, source label, anchor age |
|
|
| Synchronized VIO replay runner | Verify Derkachi and public/representative synchronized data drive BASALT/wrapper tests | Fixture alignment, trajectory comparison, VIO registration, latency, covariance calibration |
|
|
| Satellite anchor replay runner | Verify VPR and anchor verification scenarios are executable | Retrieval recall, MRE, accepted/rejected anchors, freshness behavior |
|
|
| Outlier/sharp-turn/disconnected runner | Verify relocalization resilience scenarios are executable | Degraded-mode timelines and relocalization outcomes |
|
|
| Blackout and spoofing runner | Verify total blackout plus spoofing through SITL/replay | Mode-switch timing, covariance growth, failsafe thresholds |
|
|
| MAVLink/QGC contract runner | Verify MAVLink output and GCS status assertions | `GPS_INPUT`, WGS84 coordinates, status rate, command ingress |
|
|
| Startup/reboot runner | Verify cold-start and companion reboot scenarios | First valid `GPS_INPUT` p95 and FC-state reinitialization |
|
|
| Object coordinate contract runner | Verify AI-camera object coordinate request at system boundary | Frame-center-consistent coordinate accuracy and projection bound |
|
|
| Tile Manager runner | Verify cache, generated tiles, and storage tests | Cache load, tile write gates, no raw-frame retention, stale rejection, poisoning evidence |
|
|
|
|
## Release Evidence
|
|
|
|
The suite assembles CSV, Markdown, MAVLink tlogs, FDR summaries, cache validation reports, and pass/fail metadata into release evidence bundles. Missing public or representative data is reported as `blocked`, not `passed`.
|
|
|
|
## Non-Responsibilities
|
|
|
|
- No onboard flight logic.
|
|
- No direct estimator, BASALT, wrapper, or tile-manager imports.
|
|
- No mutation of runtime internal state.
|
|
- No production service APIs.
|