gps-denied-onboard/e2e/tests/positive/test_ft_p_09_inav.py

"""FT-P-09-iNav — iNav MSP2_SENSOR_GPS contract conformance (AZ-417 / AC-4.3).

The full scenario:

1. Force ``fc_adapter=inav``; start the SUT against the iNav SITL
   container on ``inav-sitl:5760``.
2. AC-1: probe the TCP connection establishment from the SUT side
   within ≤5 s (observable via the SITL observer's connection event).
3. Replay 60 s of Derkachi through the SUT.
4. AC-2: count MSP2_SENSOR_GPS (function ID 0x1F03) frame arrivals at
   iNav; assert ≥4.5 Hz observed.
5. AC-3: query iNav GPS state via ``msp_gps_toy`` subprocess; assert
   ``gpsSol.fixType ≥ 3``, ``provider = "MSP"``, ``gpsSol.numSat``
   matches the emitted value.
6. AC-4: parameterise per ``vio_strategy`` (``fc_adapter`` fixed to
   ``inav``).

Gated on:
* ``runner.helpers.frame_source_replay`` — owned by AZ-441
* ``runner.helpers.sitl_observer`` — owned by AZ-407 (iNav probe leg
  is part of the iNav-side `inav_msp_observer` follow-up)

Pure-logic AC-2/AC-3 coverage lives in
``e2e/_unit_tests/helpers/test_msp_frame_observer.py``.
"""

from __future__ import annotations

from pathlib import Path

import pytest

from runner.helpers import msp_frame_observer as mfo

DERKACHI_DIR = (
    Path(__file__).resolve().parents[3]
    / "_docs"
    / "00_problem"
    / "input_data"
    / "flight_derkachi"
)
DERKACHI_MP4 = DERKACHI_DIR / "flight_derkachi.mp4"

REPLAY_WINDOW_S = 60
TCP_HANDSHAKE_BUDGET_S = 5


@pytest.fixture(scope="module")
def _inav_harness_implemented() -> bool:
    """True iff frame_source_replay + sitl_observer iNav 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.observe_inav_tcp_handshake(host="inav-sitl", port=5760, timeout_s=0.01)
        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")
def test_ft_p_09_inav(
    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]
    _inav_harness_implemented: bool,
) -> None:
    """Full FT-P-09-iNav scenario; parameterized per vio_strategy.

    `fc_adapter` is FORCED to ``inav`` (AC-4) — the test skips on any
    other adapter so the conftest matrix doesn't double-run it under
    ``ardupilot``.
    """
    fc_adapter = request.getfixturevalue("fc_adapter")
    if fc_adapter != "inav":
        pytest.skip("FT-P-09-iNav is iNav-only; ardupilot variant is FT-P-09-AP (AZ-416)")

    if not _inav_harness_implemented:
        pytest.skip(
            "FT-P-09-iNav full scenario requires runner.helpers.{frame_source_replay,"
            "sitl_observer.observe_inav_tcp_handshake} — currently AZ-441 / AZ-407 leftovers. "
            "Pure-logic AC-2/AC-3 covered by "
            "e2e/_unit_tests/helpers/test_msp_frame_observer.py."
        )

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

    # 1. AC-1: TCP handshake.
    handshake = sitl_observer.observe_inav_tcp_handshake(
        host="inav-sitl", port=5760, timeout_s=TCP_HANDSHAKE_BUDGET_S,
    )
    assert handshake.established_within_s is not None, (
        f"AC-1 (TCP connect ≤{TCP_HANDSHAKE_BUDGET_S} s) failed: no connection event"
    )
    assert handshake.established_within_s <= TCP_HANDSHAKE_BUDGET_S, (
        f"AC-1 (TCP connect ≤{TCP_HANDSHAKE_BUDGET_S} s) failed: "
        f"established_within_s={handshake.established_within_s}"
    )

    # 2. Drive replay.
    FrameSourceReplayer(_resolve_frame_sink()).replay_video(DERKACHI_MP4)

    # 3. Collect MSP frame arrivals from the iNav observer.
    capture = sitl_observer.collect_inav_msp_frames(
        host="inav-sitl", port=5760, window_s=REPLAY_WINDOW_S,
    )
    samples = [
        mfo.MspFrameSample(monotonic_ms=int(f.monotonic_ms), function_id=int(f.function_id))
        for f in capture.frames
    ]

    # 4. AC-2: rate.
    rate_report = mfo.compute_rate_hz(samples)

    # 5. AC-3: iNav GPS state via msp_gps_toy.
    state = sitl_observer.query_inav_gps_state(host="inav-sitl")
    gps_report = mfo.evaluate_inav_gps_state(
        mfo.InavGpsSnapshot(
            fix_type=int(state.fix_type),
            num_sat=int(state.num_sat),
            provider=str(state.provider),
        ),
        expected_num_sat=int(capture.expected_num_sat),
    )

    # 6. NFR metrics + assertions.
    nfr_recorder.record_metric(
        "ft_p_09_inav.frame_count", float(rate_report.frame_count), ac_id="AC-2"
    )
    nfr_recorder.record_metric(
        "ft_p_09_inav.observed_rate_hz", rate_report.observed_rate_hz, ac_id="AC-2"
    )
    nfr_recorder.record_metric(
        "ft_p_09_inav.tcp_handshake_s", float(handshake.established_within_s), ac_id="AC-1"
    )
    nfr_recorder.record_metric(
        "ft_p_09_inav.fix_type", float(gps_report.snapshot.fix_type), ac_id="AC-3"
    )

    assert rate_report.passes, (
        f"AC-2 (≥{mfo.MIN_OBSERVED_RATE_HZ} Hz for {mfo.DEFAULT_TARGET_RATE_HZ} Hz target) failed: "
        f"observed_rate_hz={rate_report.observed_rate_hz:.3f}, "
        f"frames={rate_report.frame_count}, window_ms={rate_report.window_ms}"
    )
    assert gps_report.passes, (
        f"AC-3 failed: fix_type_ok={gps_report.fix_type_ok}, "
        f"provider_ok={gps_report.provider_ok}, num_sat_ok={gps_report.num_sat_ok}; "
        f"snapshot={gps_report.snapshot}, expected_num_sat={gps_report.expected_num_sat}"
    )


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