gps-denied-onboard/e2e/tests/positive/test_ft_p_09_ap_signing.py

"""FT-P-09-AP — ArduPilot GPS_INPUT contract + MAVLink 2.0 signing (AZ-416 / AC-4.3).

The full scenario:

1. Force ``fc_adapter=ardupilot``; load ``mavlink-test-passkey.txt``
   as the docker secret feeding the SUT signing channel.
2. Start the SUT against the ArduPilot SITL container; mavproxy-listener
   captures the wire traffic to a ``.tlog``.
3. AC-1: parse the ``.tlog``; first signed frame must arrive within
   ≤5 s of the first observed message; no ``BAD_SIGNATURE`` STATUSTEXT
   in that window.
4. Replay 60 s of Derkachi through the SUT (signed GPS_INPUT flow).
5. AC-2: GPS_INPUT cadence over the full ``.tlog`` ≥4.5 Hz.
6. AC-3: ``EK3_SRC1_POSXY`` (read via mavproxy parameter request) ==
   3 (GPS source).
7. AC-4: GPS_RAW_INT health (``fix_type ≥ 3`` AND ``eph ≤ 200``)
   for ≥80 % of the window.
8. AC-5: parameterised per ``vio_strategy`` (``fc_adapter`` fixed to
   ``ardupilot``).

Gated on:
* ``runner.helpers.frame_source_replay`` — owned by AZ-441
* ``runner.helpers.sitl_observer`` — owned by AZ-407 (AP-side leg
  ``capture_ap_tlog`` + ``read_ap_parameter``)

Pure-logic AC-1/AC-2/AC-3/AC-4 coverage lives in
``e2e/_unit_tests/helpers/test_ap_contract_evaluator.py`` and
``e2e/_unit_tests/helpers/test_mavproxy_tlog_reader.py``.
"""

from __future__ import annotations

from pathlib import Path

import pytest

from runner.helpers import ap_contract_evaluator as ace
from runner.helpers import mavproxy_tlog_reader as mtr

DERKACHI_DIR = (
    Path(__file__).resolve().parents[3]
    / "_docs"
    / "00_problem"
    / "input_data"
    / "flight_derkachi"
)
DERKACHI_MP4 = DERKACHI_DIR / "flight_derkachi.mp4"
MAVLINK_PASSKEY_FIXTURE = (
    Path(__file__).resolve().parents[2]
    / "fixtures"
    / "secrets"
    / "mavlink-test-passkey.txt"
)

REPLAY_WINDOW_S = 60


@pytest.fixture(scope="module")
def _ap_harness_implemented() -> bool:
    """True iff frame_source_replay + sitl_observer AP-side leg are real."""
    from runner.helpers import sitl_observer
    from runner.helpers.frame_source_replay import FrameSourceReplayer

    try:
        replayer = FrameSourceReplayer(sink=_NullSink())  # type: ignore[arg-type]
        try:
            replayer.replay_video(Path("/tmp/non-existent.mp4"))
        except NotImplementedError:
            return False
        try:
            sitl_observer.capture_ap_tlog(host="ardupilot-sitl", duration_s=0.01)
        except (NotImplementedError, AttributeError):
            return False
        try:
            sitl_observer.read_ap_parameter(host="ardupilot-sitl", name="EK3_SRC1_POSXY")
        except (NotImplementedError, AttributeError):
            return False
        return True
    except Exception:
        return False


class _NullSink:
    def write_frame(self, jpeg_bytes: bytes, timestamp_ms: int) -> None:
        return None


@pytest.mark.traces_to("AC-4.3,AC-1,AC-2,AC-3,AC-4,AC-5,D-C8-9")
def test_ft_p_09_ap_signing(
    vio_strategy: str,
    evidence_dir,  # type: ignore[no-untyped-def]
    run_id: str,
    nfr_recorder,  # type: ignore[no-untyped-def]
    request,  # type: ignore[no-untyped-def]
    _ap_harness_implemented: bool,
) -> None:
    """Full FT-P-09-AP scenario; parameterized per vio_strategy."""
    fc_adapter = request.getfixturevalue("fc_adapter")
    if fc_adapter != "ardupilot":
        pytest.skip("FT-P-09-AP is ArduPilot-only; iNav variant is FT-P-09-iNav (AZ-417)")

    if not MAVLINK_PASSKEY_FIXTURE.exists():
        pytest.fail(
            f"mavlink-test-passkey fixture missing at {MAVLINK_PASSKEY_FIXTURE} — "
            "AZ-407 / AZ-408 owns the on-disk fixture."
        )

    if not _ap_harness_implemented:
        pytest.skip(
            "FT-P-09-AP full scenario requires runner.helpers.{frame_source_replay,"
            "sitl_observer.capture_ap_tlog,sitl_observer.read_ap_parameter} — "
            "currently AZ-441 / AZ-407 leftovers. Pure-logic AC-1..AC-4 covered by "
            "e2e/_unit_tests/helpers/test_ap_contract_evaluator.py."
        )

    from runner.helpers import sitl_observer
    from runner.helpers.frame_source_replay import FrameSourceReplayer

    # 1. Drive replay (captures tlog continuously via mavproxy-listener).
    FrameSourceReplayer(_resolve_frame_sink()).replay_video(DERKACHI_MP4)
    tlog_path = sitl_observer.capture_ap_tlog(
        host="ardupilot-sitl", duration_s=REPLAY_WINDOW_S,
    )

    # 2. Materialise the tlog ONCE (iter_messages is single-pass).
    msgs = ace.collect_messages_to_list(mtr.iter_messages(tlog_path))
    if not msgs:
        pytest.fail(f"FT-P-09-AP: empty tlog at {tlog_path}")

    # 3. AC-1: signing handshake.
    handshake = ace.observe_signing_handshake(msgs)

    # 4. AC-2: GPS_INPUT rate.
    rate = ace.compute_gps_input_rate(msgs)

    # 5. AC-3: EK3_SRC1_POSXY param read.
    ek3_value = int(sitl_observer.read_ap_parameter(
        host="ardupilot-sitl", name="EK3_SRC1_POSXY"
    ))
    ek3_ok = ace.validate_ek3_src1_posxy(ek3_value)

    # 6. AC-4: GPS_RAW_INT health.
    health = ace.evaluate_gps_raw_int_health(msgs)

    # 7. NFR metrics + assertions.
    if handshake.lag_s is not None:
        nfr_recorder.record_metric(
            "ft_p_09_ap.signing_handshake_s", handshake.lag_s, ac_id="AC-1"
        )
    nfr_recorder.record_metric(
        "ft_p_09_ap.gps_input_rate_hz", rate.observed_rate_hz, ac_id="AC-2"
    )
    nfr_recorder.record_metric(
        "ft_p_09_ap.ek3_src1_posxy", float(ek3_value), ac_id="AC-3"
    )
    nfr_recorder.record_metric(
        "ft_p_09_ap.gps_raw_int_healthy_fraction", health.healthy_fraction, ac_id="AC-4"
    )

    assert handshake.passes, (
        f"AC-1 (signing handshake ≤{ace.HANDSHAKE_BUDGET_S} s, no BAD_SIGNATURE) failed: "
        f"first_signed_us={handshake.first_signed_us}, lag_s={handshake.lag_s}, "
        f"bad_signature_count={handshake.bad_signature_count}"
    )
    assert rate.passes, (
        f"AC-2 (GPS_INPUT ≥{ace.GPS_INPUT_MIN_RATE_HZ} Hz for "
        f"{ace.GPS_INPUT_TARGET_RATE_HZ} Hz target) failed: "
        f"observed_rate_hz={rate.observed_rate_hz:.3f}, frames={rate.frame_count}"
    )
    assert ek3_ok, (
        f"AC-3 (EK3_SRC1_POSXY = {ace.EK3_SRC1_POSXY_REQUIRED}) failed: got {ek3_value}"
    )
    assert health.passes, (
        f"AC-4 (GPS_RAW_INT healthy fraction ≥"
        f"{ace.GPS_RAW_INT_HEALTHY_FRACTION_REQUIRED:.0%}) failed: "
        f"observed={health.healthy_fraction:.4f}, "
        f"healthy={health.healthy_samples}/{health.total_samples}"
    )


def _resolve_frame_sink():  # type: ignore[no-untyped-def]
    raise NotImplementedError(
        "frame sink resolution is owned by AZ-441 / runner.helpers.frame_source_replay"
    )