gps-denied-onboard/e2e/runner/conftest.py

"""Top-level pytest conftest for the blackbox e2e harness.

Responsibilities:
    1. Session-level parameterization over ``(fc_adapter, vio_strategy)``.
    2. Skip-rule enforcement per the traceability matrix
       (`_docs/02_document/tests/traceability-matrix.md`):
         - AC-7.1, AC-7.2 → SKIP (deferred — no AI-camera fixture)
         - RESTRICT-CAM-2 → SKIP (paired with AC-7.x)
         - AC-NEW-5 chamber portion → SKIP unless --enable-chamber
         - RESTRICT-HW-2 chamber portion → SKIP unless --enable-chamber
         - Tier-2-only tests → SKIP on tier1-docker
         - `vins_mono` parametrization → SKIP on production-build sessions
    3. Wiring of the boundary-driving fixtures (`sitl_observer`,
       `mavproxy_tlog`, `fdr_reader`, `mock_suite_sat_client`) consumed by
       per-scenario tests.

The actual boundary-driving fixtures import helper modules from
``runner.helpers.*``. They are registered here but their implementations
live in the helpers package.
"""

from __future__ import annotations

import os
from collections.abc import Iterator
from pathlib import Path

import pytest


# ---------------------------------------------------------------------------
# Command-line options
# ---------------------------------------------------------------------------


def pytest_addoption(parser: pytest.Parser) -> None:
    """Harness-level options (not exposed to individual tests)."""
    group = parser.getgroup("e2e-runner", "Blackbox e2e harness options")
    group.addoption(
        "--enable-chamber",
        action="store_true",
        default=False,
        help="Enable thermal-chamber-gated tests (AC-NEW-5 hot-soak, RESTRICT-HW-2). "
        "Requires the chamber-attached Jetson runner; default off.",
    )
    group.addoption(
        "--build-kind",
        action="store",
        default=os.environ.get("BUILD_KIND", "production"),
        choices=("production", "research"),
        help="Selects which VIO strategies are valid: production excludes vins_mono.",
    )
    group.addoption(
        "--evidence-out",
        action="store",
        default=os.environ.get("EVIDENCE_OUT", "/e2e-results/evidence"),
        help="Directory the evidence bundler writes per-run artifacts to.",
    )
    group.addoption(
        "--allow-no-skip-reason",
        action="store_true",
        default=False,
        help="Allow @pytest.mark.deferred_ac without an explicit reason= kwarg. "
        "Default off — every deferred AC must cite its traceability-matrix row.",
    )


# ---------------------------------------------------------------------------
# Parameterization matrix
# ---------------------------------------------------------------------------

_FC_ADAPTERS = ("ardupilot", "inav")
_VIO_STRATEGIES = ("okvis2", "klt_ransac", "vins_mono")


def pytest_generate_tests(metafunc: pytest.Metafunc) -> None:
    """Parametrize tests that request the ``fc_adapter`` / ``vio_strategy`` fixtures.

    Tests opt in by listing the fixture name in their signature. Tests that
    explicitly do not depend on the matrix simply do not request the fixture.
    """
    if "fc_adapter" in metafunc.fixturenames:
        env_default = os.environ.get("FC_ADAPTER")
        if env_default:
            metafunc.parametrize("fc_adapter", [env_default], ids=[env_default])
        else:
            metafunc.parametrize("fc_adapter", _FC_ADAPTERS, ids=_FC_ADAPTERS)
    if "vio_strategy" in metafunc.fixturenames:
        env_default = os.environ.get("VIO_STRATEGY")
        if env_default:
            metafunc.parametrize("vio_strategy", [env_default], ids=[env_default])
        else:
            metafunc.parametrize("vio_strategy", _VIO_STRATEGIES, ids=_VIO_STRATEGIES)


# ---------------------------------------------------------------------------
# Skip-rule enforcement (deterministic; runs at collection time)
# ---------------------------------------------------------------------------


def pytest_collection_modifyitems(
    config: pytest.Config, items: list[pytest.Item]
) -> None:
    """Apply traceability-matrix-driven skips before any test executes.

    The mapping between AC / RESTRICT IDs and the SKIP reason strings is the
    one declared in `_docs/02_document/tests/traceability-matrix.md` §
    Uncovered Items Analysis. Any change to that matrix MUST be mirrored
    here (and vice-versa) — the unit tests in
    `e2e/_unit_tests/test_traceability_skip_rules.py` catch drift.
    """
    tier = os.environ.get("TIER", "tier1-docker")
    chamber_enabled = config.getoption("--enable-chamber")
    build_kind = config.getoption("--build-kind")

    skip_tier2 = pytest.mark.skip(reason="Tier-2 only — Jetson hardware required")
    skip_chamber = pytest.mark.skip(
        reason="Chamber-gated — run with --enable-chamber on the chamber-attached Jetson runner"
    )
    skip_research = pytest.mark.skip(
        reason="vins_mono is research-build-only per D-C1-1-SUB-A"
    )

    for item in items:
        # ----- Tier-2 only -----
        if "tier2_only" in item.keywords and tier != "tier2-jetson":
            item.add_marker(skip_tier2)
            continue

        # ----- Chamber only -----
        if "chamber_only" in item.keywords and not chamber_enabled:
            item.add_marker(skip_chamber)
            continue

        # ----- Research-build vs production matrix -----
        # Skip vins_mono on production-build runs (the marker is set on the
        # parametrize id, not the test fn — we check the param id).
        if build_kind == "production":
            call_params = getattr(item, "callspec", None)
            if call_params is not None and call_params.params.get("vio_strategy") == "vins_mono":
                item.add_marker(skip_research)
                continue

        # ----- Deferred-AC traceability-matrix skips -----
        deferred = item.get_closest_marker("deferred_ac")
        if deferred is not None:
            reason = deferred.kwargs.get("reason")
            if reason is None and not config.getoption("--allow-no-skip-reason"):
                # Hard failure at collection — every deferred_ac MUST cite its
                # matrix row to prevent silent coverage erosion.
                item.add_marker(
                    pytest.mark.skip(
                        reason=(
                            "deferred_ac marker without reason= kwarg; cite the "
                            "traceability-matrix row that justifies the deferral, "
                            "or run with --allow-no-skip-reason for local debugging."
                        )
                    )
                )
                continue
            verdict = deferred.kwargs.get("verdict", "skip").lower()
            if verdict == "xfail":
                item.add_marker(pytest.mark.xfail(reason=reason or "deferred AC (xfail)", strict=False))
            else:
                item.add_marker(
                    pytest.mark.skip(
                        reason=(
                            reason
                            or "deferred AC — see _docs/02_document/tests/traceability-matrix.md"
                        )
                    )
                )


# ---------------------------------------------------------------------------
# Fixtures
# ---------------------------------------------------------------------------


@pytest.fixture(scope="session")
def run_id() -> str:
    return os.environ.get("RUN_ID", "local")


@pytest.fixture(scope="session")
def tier() -> str:
    return os.environ.get("TIER", "tier1-docker")


@pytest.fixture(scope="session")
def evidence_dir(pytestconfig: pytest.Config, run_id: str) -> Path:
    base = Path(pytestconfig.getoption("--evidence-out"))
    target = base if base.name == "evidence" else base / "evidence"
    target.mkdir(parents=True, exist_ok=True)
    return target


@pytest.fixture(scope="session")
def mock_suite_sat_url() -> str:
    return os.environ.get("MOCK_SUITE_SAT_URL", "http://mock-suite-sat-service:8080")


# ---------------------------------------------------------------------------
# Plugin registration
# ---------------------------------------------------------------------------

# The CSV reporter plugin is a separate module so the unit tests can exercise
# it directly without going through a real pytest run. It is registered via
# `pytest_plugins` so docker-compose's `--csv=...` flag binds to our column
# set rather than the upstream pytest-csv default.
pytest_plugins = [
    "runner.reporting.csv_reporter",
    "runner.reporting.evidence_bundler",
]