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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
6599d828d2
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 d7a17a8) authoritatively places the
harness under `e2e/`. Implementation followed the layout entry.
* AZ-444 spec mentions `e2e/tier2/run-tier2.sh`; AZ-406 placed it
at `e2e/jetson/run-tier2.sh`. Kept at `e2e/jetson/` for
consistency.
* Cold-boot README ownership: corrected from AZ-419 to AZ-407 per
AZ-419's own Dependencies field.
Specs archived to _docs/02_tasks/done/. Jira tickets transitioned to
In Testing on commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
39 lines
1.5 KiB
JSON
39 lines
1.5 KiB
JSON
{
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"_schema": "cold-boot-fixture/v1",
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"_description": "Frozen FC pose snapshot at flight-resume time. Loaded into ardupilot-plane-sitl / inav-sitl via the standard parameter-load path. Consumed by FT-P-11 (cold-start init, secondary path: origin_source == fc_ekf) per AZ-419.",
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"_provenance": "synthetic — Derkachi sector centre at 100 m AGL, heading north",
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"_license": "test-fixture (no third-party data; safe to redistribute under this repo's license)",
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"_authored_for": ["AZ-407 (AC-4)", "AZ-419 (FT-P-11 fc_ekf path)"],
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"global_position_int": {
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"time_boot_ms": 0,
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"lat_e7": 500750000,
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"lon_e7": 361500000,
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"alt_mm": 100000,
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"relative_alt_mm": 100000,
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"vx_cm_s": 0,
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"vy_cm_s": 0,
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"vz_cm_s": 0,
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"hdg_cdeg": 0
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},
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"attitude": {
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"roll_rad": 0.0,
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"pitch_rad": 0.0,
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"yaw_rad": 0.0,
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"rollspeed_rad_s": 0.0,
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"pitchspeed_rad_s": 0.0,
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"yawspeed_rad_s": 0.0
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},
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"ardupilot_param_overrides": {
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"SIM_GPS_DISABLE": 0,
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"SIM_GPS_TYPE": 1,
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"_comment_lat_lon_alt_yaw": "SIM_GPS_* params do not directly set EKF origin on the parameter-load path; FT-P-11 fixture loader will use mavproxy `param load` + a follow-up SET_HOME_POSITION / FAKE_GPS injection to land the EKF at the snapshot pose."
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},
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"inav_serial_rx_overrides": {
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"_comment": "iNav loads pose via MSP2_SENSOR_GPS injection + INAV_SET_HOME message. FT-P-11 loader uses the standard MSP2 path; this fixture only declares the target lat/lon/alt/yaw — the loader handles per-FC wiring."
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}
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}
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