gps-denied-onboard/_docs/02_tasks/todo/AZ-404_replay_e2e_fixture.md

Replay — E2E replay fixture test (Derkachi 1–2 min clip + tlog)

Task: AZ-404_replay_e2e_fixture Name: E2E replay fixture test — Derkachi 1–2 min clip + tlog; AC-3 ≤ 100 m for ≥ 80 % of ticks Description: Implement tests/e2e/replay/test_derkachi_1min.py running the gps-denied-replay CLI against a 1–2 min Derkachi clip + matching pymavlink .tlog and asserting AC-3 of the epic: L2 horizontal distance ≤ 100 m for ≥ 80 % of ticks (matches AC-1.3 cumulative-drift bound). Also asserts AC-1 (CLI exits 0; JSONL line count within ±5 % of GLOBAL_POSITION_INT tlog count); AC-2 (each line is valid JSON matching EstimatorOutput schema); AC-5 (determinism: same input → same output within ≤ 1e-6 float drift in position fields, run twice and diff); AC-6 (--pace realtime runs in 60 ± 5 s; --pace asap in ≤ 30 s on Tier-1 hardware). Test fixture: re-uses the existing Derkachi corpus (_docs/00_problem/input_data/flight_derkachi/) — clip a 60–120 s segment + matching tlog window. Test gated by RUN_REPLAY_E2E=1 env var in CI (Tier-1 capable; not run on every PR by default per the project's existing E2E gating pattern). Complexity: 5 points Dependencies: AZ-402 (CLI entrypoint); AZ-403 (Docker image used by E2E in CI); AZ-401 (composition root); the Derkachi fixture (_docs/00_problem/input_data/flight_derkachi/); AZ-263, AZ-269, AZ-266, AZ-272, AZ-273 Component: replay-tests (epic AZ-265 / E-DEMO-REPLAY) — test at tests/e2e/replay/ Tracker: AZ-404 Epic: AZ-265 (E-DEMO-REPLAY)

Document Dependencies

• _docs/02_document/contracts/replay/replay_protocol.md — Invariants 7, 10 (determinism).
• _docs/02_document/components/07_c5_state/description.md — EstimatorOutput schema.
• _docs/00_problem/input_data/flight_derkachi/README.md — fixture documentation.
• _docs/00_problem/input_data/expected_results/position_accuracy.csv — ground-truth GPS for the AC-3 assertion.

Problem

Without this task, AC-3 (the epic's primary acceptance gate — demo confidence equals field test confidence on the same footage) is unverified. AC-5 (determinism) and AC-6 (pace timing) are similarly unverified at the system level.

Outcome

• tests/e2e/replay/conftest.py:
  • Fixture derkachi_replay_inputs returning (video_path, tlog_path, calib_path, ground_truth_csv).
  • Fixture replay_runner invoking the CLI via subprocess.run(["gps-denied-replay", ...]) (or equivalent) and returning the captured stdout/stderr + exit code + parsed JSONL output.
• tests/e2e/replay/test_derkachi_1min.py:
  • test_ac1_exits_0_jsonl_count_match.
  • test_ac2_jsonl_schema_match.
  • test_ac3_within_100m_80pct_of_ticks.
  • test_ac5_determinism_two_runs_diff.
  • test_ac6_pace_realtime_60s_within_5pct.
  • test_ac6_pace_asap_under_30s.
• Helper tests/e2e/replay/_helpers.py:
  • JSONL parser → list of EstimatorOutput.
  • L2 horizontal-distance computation (WGS84-aware; uses WgsConverter AZ-279 inside the test for ground-truth comparison).
  • Match-percentage computation against ground-truth GPS.
• CI gating: tests marked @pytest.mark.skipif(not os.getenv("RUN_REPLAY_E2E"), reason="...") per the project's E2E pattern.
• Documentation: tests/e2e/replay/README.md describes how to run locally + which env var enables in CI.

Scope

Included

• All 6 test methods (one per epic AC except AC-7 / AC-8 — those are auto-sync, owned by AZ-405 — and AC-4 — owned by SBOM diff in AZ-403).
• Helper functions for JSONL parsing + ground-truth comparison.
• Conftest fixtures.
• README.

Excluded

• AC-7 / AC-8 auto-sync tests — owned by AZ-405 (auto-sync task).
• AC-4 SBOM-diff verification — owned by AZ-403 (Dockerfile + CI task).

Acceptance Criteria

AC-1: test_ac1_exits_0_jsonl_count_match passes — runs the CLI; exit code is 0; JSONL line count is within ±5 % of the tlog's GLOBAL_POSITION_INT count.

AC-2: test_ac2_jsonl_schema_match passes — every JSONL line is a valid JSON object with all EstimatorOutput schema fields present + correct types.

AC-3: test_ac3_within_100m_80pct_of_ticks passes — for the Derkachi fixture with known ground-truth GPS, ≥ 80 % of emitted EstimatorOutput records have L2 horizontal distance ≤ 100 m from ground truth.

AC-4: test_ac5_determinism_two_runs_diff passes — run the CLI twice with identical args; load both JSONL outputs; assert position fields differ by ≤ 1e-6 float (Invariant 10).

AC-5: test_ac6_pace_realtime_60s_within_5pct passes — run with --pace realtime on a 60 s clip; assert wall-clock duration is 60 s ± 3 s.

AC-6: test_ac6_pace_asap_under_30s passes — run with --pace asap on the same 60 s clip; assert wall-clock duration ≤ 30 s on Tier-1 hardware.

AC-7: All tests skip cleanly without RUN_REPLAY_E2E — when the env var is unset, pytest tests/e2e/replay/ reports all 6 tests as SKIPPED, not FAILED.

AC-8: Tests run via Docker image — also verify the CLI works via docker run --rm gps-denied-replay-cli gps-denied-replay ... for at least one of the AC tests (AC-1) — proves the image entrypoint is functional.

AC-9: Helper L2 computation correct — unit-level test of the WGS84 L2 helper against hand-computed expected distance for a known coord pair.

AC-10: README accuracy — tests/e2e/replay/README.md documents the env var, the fixture location, the expected runtime per pace, and the failure-mode cookbook (e.g., "if AC-3 fails, regenerate ground-truth via X").

Non-Functional Requirements

• E2E suite runtime ≤ 5 min on Tier-1 hardware (one realtime run + one asap run + two determinism asap runs + two more for AC-1/AC-2).
• E2E memory ≤ 4 GB resident (epic NFT).

Constraints

• Re-use the Derkachi fixture (_docs/00_problem/input_data/flight_derkachi/); do NOT introduce new fixture data unless explicitly missing.
• pytest is the test runner.
• Tier-1 hardware assumed (Jetson AGX Orin or equivalent x86 with CUDA per the project's CI matrix).
• The 1–2 min clip is a sub-segment of the existing Derkachi flight; the segment range is documented in tests/e2e/replay/README.md.

Risks & Mitigation

• Risk: AC-3 flake under non-deterministic ML inference — Mitigation: AC-5 (determinism) covers the two-runs-equal case; AC-3 is the offline-replay-quality check; if the system is non-deterministic enough to flake AC-3, that's a deeper bug worth surfacing.
• Risk: Derkachi fixture clip not yet trimmed — Mitigation: this task includes producing the trimmed clip + tlog window as part of the fixture; the conftest fixture file holds the trim definition (start/end timestamps).
• Risk: AC-6 realtime timing flakes on shared CI runners — Mitigation: ± 3 s tolerance is generous; if flakes persist, the tolerance widens to ± 5 s in a follow-up.

Runtime Completeness

• Named capability: end-to-end replay regression test against the Derkachi fixture.
• Production code: real CLI invocation, real ground-truth comparison, real determinism diff.
• Allowed external stubs: NONE — this is the integration-fidelity test.
• Unacceptable substitutes: an in-process pytest harness that bypasses the CLI subprocess (defeats AC-1 + AC-8 — the deliverable is the CLI binary).

Contract

Verifies _docs/02_document/contracts/replay/replay_protocol.md — Invariants 7 + 10; epic ACs 1, 2, 3, 5, 6.