mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:41:12 +00:00
Oleksandr Bezdieniezhnykh
bb744d9078
FT-P-12: parse mavproxy-listener tlog over a 60 s Derkachi replay and assert SUT->GCS GLOBAL_POSITION_INT cadence lands in [1, 2] Hz (AC-6.1). FT-P-13: inject `RELOC:<lat>,<lon>,<radius_m>` STATUSTEXT while the SUT is in dead_reckoned; verify FDR `c8.gcs.operator_command` ack <=2s, `anchor_search_region` centre shifts toward the hint, and no BAD_SIGNATURE / UNAUTHORIZED / REJECTED STATUSTEXT lands in the post-inject window (AC-6.2). Adds runner.helpers.gcs_telemetry_evaluator (rate, hint-ack correlation, haversine search-region shift, rejection scan) and sitl_observer.capture_gcs_tlog (parity surface to capture_ap_tlog). Pure-logic coverage: 39 new unit tests; full e2e/_unit_tests/ suite 746 passing (was 700). Scenarios skip locally on missing SITL replay fixture; production hooks (inbound STATUSTEXT parser, anchor_search_region FDR emitter) tracked outside this task. See _docs/03_implementation/batch_81_report.md + reviews/batch_81_review.md. Co-authored-by: Cursor <cursoragent@cursor.com>
151 lines
6.3 KiB
Python
151 lines
6.3 KiB
Python
"""Asserts the AZ-406 directory layout is present.
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Every blackbox / fixture / Jetson task added later relies on these paths.
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Catching a missing directory here is much faster than failing inside the
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e2e-runner image build.
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"""
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from __future__ import annotations
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from pathlib import Path
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import pytest
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E2E_ROOT = Path(__file__).resolve().parents[1]
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@pytest.mark.parametrize(
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"relative_path",
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[
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"README.md",
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".gitignore",
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"docker/docker-compose.test.yml",
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"docker/docker-compose.tier2-bridge.yml",
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"docker/secrets/mavlink_passkey",
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"docker/run-tier1.sh",
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"jetson/run-tier2.sh",
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"jetson/tier2-on-jetson.sh",
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"jetson/tier2.service",
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"jetson/tegrastats_parser.py",
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"jetson/jtop_parser.py",
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"runner/Dockerfile",
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"runner/requirements.txt",
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"runner/pytest.ini",
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"runner/conftest.py",
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"runner/reporting/csv_reporter.py",
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"runner/reporting/evidence_bundler.py",
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"runner/reporting/nfr_recorder.py",
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"runner/helpers/frame_source_replay.py",
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"runner/helpers/imu_replay.py",
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"runner/helpers/sitl_observer.py",
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"runner/helpers/mavproxy_tlog_reader.py",
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"runner/helpers/fdr_reader.py",
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"runner/helpers/geo.py",
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"runner/helpers/anchor_pair_detector.py",
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"runner/helpers/estimate_schema.py",
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"runner/helpers/accuracy_evaluator.py",
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"runner/helpers/registration_classifier.py",
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"runner/helpers/mre_evaluator.py",
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"runner/helpers/multi_segment_evaluator.py",
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"runner/helpers/smoothing_evaluator.py",
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"runner/helpers/sharp_turn_detector.py",
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"runner/helpers/msp_frame_observer.py",
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"runner/helpers/ap_contract_evaluator.py",
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"runner/helpers/gcs_telemetry_evaluator.py",
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"runner/helpers/cold_start_evaluator.py",
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"runner/helpers/outlier_tolerance_evaluator.py",
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"runner/helpers/outage_request_evaluator.py",
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"runner/helpers/blackout_spoof_evaluator.py",
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"runner/helpers/fc_proxy_runtime.py",
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"runner/helpers/replay_mode.py",
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"fixtures/sitl_replay_builder/__init__.py",
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"fixtures/sitl_replay_builder/builder.py",
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"fixtures/sitl_replay_builder/build_p01_fixtures.py",
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"fixtures/sitl_replay_builder/build_p02_fixtures.py",
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"fixtures/sitl_replay_builder/README.md",
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"fixtures/mock-suite-sat/Dockerfile",
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"fixtures/mock-suite-sat/app.py",
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"fixtures/mock-suite-sat/requirements.txt",
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"fixtures/tile-cache-builder/README.md",
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"fixtures/tile-cache-builder/builder.py",
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"fixtures/tile-cache-builder/Dockerfile",
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"fixtures/tile-cache-builder/build.sh",
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"fixtures/age-injector/README.md",
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"fixtures/age-injector/age_injector.py",
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"fixtures/age-injector/inject.sh",
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"fixtures/injectors/outlier.py",
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"fixtures/injectors/blackout_spoof.py",
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"fixtures/injectors/multi_segment.py",
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"fixtures/injectors/cold_boot.py",
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"fixtures/injectors/_common.py",
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"fixtures/injectors/fc_proxy.py",
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"runner/helpers/injector_fixtures.py",
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"fixtures/cold-boot/README.md",
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"fixtures/cold-boot/cold_boot_fixture.json",
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"fixtures/secrets/mavlink-test-passkey.txt",
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"fixtures/security/generate_cve_jpeg.py",
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"fixtures/security/cve-2025-53644.jpg",
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"fixtures/security/README.md",
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"tests/__init__.py",
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"tests/conftest.py",
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"tests/positive/__init__.py",
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"tests/negative/__init__.py",
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"tests/performance/__init__.py",
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"tests/resilience/__init__.py",
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"tests/security/__init__.py",
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"tests/resource_limit/__init__.py",
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"tests/positive/test_smoke.py",
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"tests/positive/test_ft_p_01_still_image_accuracy.py",
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"tests/positive/test_ft_p_02_derkachi_drift.py",
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"tests/positive/test_ft_p_03_14_schema_wgs84.py",
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"tests/positive/test_ft_p_04_derkachi_f2f_registration.py",
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"tests/positive/test_ft_p_05_sat_anchor.py",
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"tests/positive/test_ft_p_06_mre_budgets.py",
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"tests/positive/test_ft_p_07_sharp_turn_recovery.py",
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"tests/positive/test_ft_p_08_multi_segment_reloc.py",
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"tests/positive/test_ft_p_09_ap_signing.py",
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"tests/positive/test_ft_p_09_inav.py",
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"tests/positive/test_ft_p_10_smoothing_lookback.py",
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"tests/positive/test_ft_p_11_cold_start_init.py",
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"tests/positive/test_ft_p_12_gcs_downsample.py",
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"tests/positive/test_ft_p_13_gcs_command.py",
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"tests/negative/test_ft_n_01_outlier_tolerance.py",
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"tests/negative/test_ft_n_02_sharp_turn_failure.py",
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"tests/negative/test_ft_n_03_outage_reloc.py",
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"tests/negative/test_ft_n_04_blackout_spoof.py",
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],
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)
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def test_required_path_exists(relative_path: str) -> None:
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"""Each path AZ-406 + AZ-407 + AZ-444 + AZ-445 commit to must exist on disk."""
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assert (E2E_ROOT / relative_path).exists(), (
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f"layout invariant broken: e2e/{relative_path} is missing"
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)
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def test_passkey_files_match() -> None:
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"""Docker secret and runner-side passkey fixture must encode the same secret.
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The docker-secret file is consumed by mavproxy as a raw 64-hex passkey
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(no comments allowed in its body). The runner-side fixture file is the
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AZ-407 AC-5 deliverable and ships with a ``# TEST ONLY...`` header
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line so it self-documents during code review.
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We therefore compare the FIRST 64-hex line of each file rather than
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the raw bytes. The two files MUST encode the same 32-byte secret;
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drift between them would mean a mavproxy run uses a different key
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than the runner fixture states.
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"""
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# Arrange
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docker_pk = (E2E_ROOT / "docker/secrets/mavlink_passkey").read_text().strip().splitlines()
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runner_pk_lines = (E2E_ROOT / "fixtures/secrets/mavlink-test-passkey.txt").read_text().strip().splitlines()
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runner_pk = [line for line in runner_pk_lines if not line.lstrip().startswith("#")]
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# Assert
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assert docker_pk and runner_pk, "passkey files must contain at least one non-comment line"
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assert docker_pk[0] == runner_pk[0], (
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"MAVLink test passkey secrets differ between docker secret and runner "
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"fixture. They MUST encode the same 32-byte secret — see "
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"e2e/fixtures/secrets/README.md."
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)
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