mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 21:11:12 +00:00
Oleksandr Bezdieniezhnykh
a644debdb7
- AZ-416 (FT-P-09-AP): fills mavproxy_tlog_reader.iter_messages with pymavlink body (AZ-406 surface kept); adds ap_contract_evaluator covering AC-1 (signing handshake <=5s), AC-2 (GPS_INPUT >=4.5 Hz), AC-3 (EK3_SRC1_POSXY=3), AC-4 (GPS_RAW_INT health >=80%); scenario forces fc_adapter=ardupilot. - AZ-417 (FT-P-09-iNav): msp_frame_observer covering AC-2 (MSP rate) and AC-3 (fix_type/provider/numSat); scenario forces fc_adapter=inav. - AZ-419 (FT-P-11): cold_start_evaluator covering AC-1 (operator manifest origin), AC-2 (FC EKF fallback), AC-3 (no-origin abort), AC-4 (bounded-delta conflict, ADR-010 Principle #11 amended); scenario parametrized on origin_source plus dedicated no-origin abort scenario. - All scenarios skip-gated on upstream frame_source_replay / imu_replay / fdr_reader / sitl_observer extensions. - +67 unit tests; full e2e unit suite: 460 passed. - K=3 cumulative review fired: PASS for batches 70-72. See _docs/03_implementation/batch_72_report.md, _docs/03_implementation/reviews/batch_72_review.md, _docs/03_implementation/cumulative_review_batches_70-72_cycle1_report.md. Co-authored-by: Cursor <cursoragent@cursor.com>
95 lines
3.1 KiB
Python
95 lines
3.1 KiB
Python
"""Parse `.tlog` files emitted by `mavproxy-listener`.
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`.tlog` is the standard MAVLink dialect dump format: each message is a
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6-byte unix-microsecond timestamp followed by the wire bytes of the MAVLink
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frame. pymavlink ships `mavlogfile` which knows how to iterate this.
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This module exposes a small typed wrapper so per-scenario tests can:
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1. Filter for the message types they care about.
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2. Compute summary statistics (count per type, message-rate Hz, ratio
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of signed vs unsigned messages for NFT-SEC-03).
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3. Attach the source `.tlog` path to the evidence bundler.
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AZ-416 (FT-P-09-AP) owns the pymavlink-backed body; AZ-406 committed to
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the public surface.
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Public-boundary discipline: does NOT import any ``src/gps_denied_onboard``
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symbol.
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"""
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from __future__ import annotations
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from dataclasses import dataclass
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from pathlib import Path
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from typing import Iterator
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from pymavlink import mavutil
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@dataclass(frozen=True)
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class TlogMessage:
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timestamp_us: int
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msg_type: str
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signed: bool
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fields: dict[str, object]
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def iter_messages(tlog_path: Path) -> Iterator[TlogMessage]:
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"""Iterate `.tlog` messages oldest-first.
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Uses ``pymavlink.mavutil.mavlink_connection`` in tlog-file mode.
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Each yielded ``TlogMessage`` carries:
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* ``timestamp_us`` — unix microseconds, as recorded by mavproxy
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(pymavlink exposes this as ``msg._timestamp`` in seconds-float).
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* ``msg_type`` — message name (e.g. ``"GPS_INPUT"``, ``"GPS_RAW_INT"``).
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* ``signed`` — True iff the wire frame carried a MAVLink 2.0
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signature block (`msg.get_signed()` on pymavlink ≥2.4).
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* ``fields`` — dict of field name → value, via ``msg.to_dict()``
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minus the ``mavpackettype`` key.
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Bad / unparsable frames are skipped (mavlogfile returns ``None`` or
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raises internally) but EOF closes the iterator cleanly.
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"""
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if not tlog_path.exists():
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raise FileNotFoundError(f"tlog not found: {tlog_path}")
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conn = mavutil.mavlink_connection(str(tlog_path))
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try:
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while True:
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msg = conn.recv_match(blocking=False)
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if msg is None:
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break
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msg_type = msg.get_type()
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if msg_type == "BAD_DATA":
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continue
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try:
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fields = msg.to_dict()
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except Exception:
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continue
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fields.pop("mavpackettype", None)
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ts_s = getattr(msg, "_timestamp", 0.0) or 0.0
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try:
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signed = bool(msg.get_signed())
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except AttributeError:
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signed = False
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yield TlogMessage(
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timestamp_us=int(ts_s * 1_000_000),
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msg_type=msg_type,
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signed=signed,
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fields=fields,
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)
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finally:
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try:
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conn.close()
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except Exception:
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pass
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def count_by_type(tlog_path: Path) -> dict[str, int]:
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"""Return ``{msg_type: count}`` for every distinct message type."""
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counts: dict[str, int] = {}
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for msg in iter_messages(tlog_path):
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counts[msg.msg_type] = counts.get(msg.msg_type, 0) + 1
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return counts
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