gps-denied-onboard/tests/unit/c8_fc_adapter/test_az395_mavlink_signing.py

"""AZ-395 — AP MAVLink 2.0 per-flight signing AC tests."""

from __future__ import annotations

import logging
import re
from types import SimpleNamespace
from typing import Any
from unittest import mock
from uuid import UUID, uuid4

import numpy as np
import pytest

from gps_denied_onboard._types.fc import FcKind, PortConfig, Severity
from gps_denied_onboard._types.geo import LatLonAlt
from gps_denied_onboard._types.state import (
    EstimatorOutput,
    PoseSourceLabel,
    Quat,
)
from gps_denied_onboard.components.c8_fc_adapter._covariance_projector import (
    CovarianceProjector,
)
from gps_denied_onboard.components.c8_fc_adapter.errors import (
    FcOpenError,
    SigningHandshakeError,
)
from gps_denied_onboard.components.c8_fc_adapter.pymavlink_ardupilot_adapter import (
    PymavlinkArdupilotAdapter,
)
from gps_denied_onboard.config import load_config

_DEV_STATIC_KEY = "00112233445566778899aabbccddeeff" * 2  # 64 hex chars = 32 bytes


class _MavStub:
    def __init__(self, signing_failure_count: int = 0) -> None:
        self.gps_input_calls: list[tuple[Any, ...]] = []
        self.named_value_float_calls: list[tuple[Any, ...]] = []
        self.statustext_calls: list[tuple[int, bytes]] = []
        # pymavlink exposes `connection.mav.signing.sig_count` after
        # setup_signing(...); we simulate that surface here.
        self.signing = SimpleNamespace(sig_count=signing_failure_count)

    def gps_input_send(self, *args: Any) -> None:
        self.gps_input_calls.append(args)

    def named_value_float_send(self, time_boot_ms: int, name: bytes, value: float) -> None:
        self.named_value_float_calls.append((time_boot_ms, name, value))

    def statustext_send(self, severity: int, text: bytes) -> None:
        self.statustext_calls.append((severity, text))


class _ConnStub:
    def __init__(self, *, fail_signing: bool = False, signing_failure_count: int = 0) -> None:
        self.mav = _MavStub(signing_failure_count=signing_failure_count)
        self.setup_signing_calls: list[bytes] = []
        self._fail_signing = fail_signing
        self.closed = False

    def setup_signing(self, key: bytes) -> None:
        if self._fail_signing:
            raise RuntimeError("simulated signing handshake refusal")
        self.setup_signing_calls.append(bytes(key))

    def close(self) -> None:
        self.closed = True


def _ap_config(*, signing_key_source: str, dev_static_key: str = "") -> Any:
    env: dict[str, str] = {
        "FC_ADAPTER": "ardupilot_plane",
        "FC_PORT_DEVICE": "/dev/null",
        "FC_PORT_BAUD": "921600",
        "FC_SIGNING_KEY_SOURCE": signing_key_source,
    }
    if dev_static_key:
        env["FC_DEV_STATIC_SIGNING_KEY"] = dev_static_key
    return load_config(env=env, paths=(), require_env=False)


def _build_adapter(
    conn: _ConnStub, *, signing_key_source: str, dev_static_key: str = ""
) -> PymavlinkArdupilotAdapter:
    cfg = _ap_config(signing_key_source=signing_key_source, dev_static_key=dev_static_key)
    fdr = mock.MagicMock()
    return PymavlinkArdupilotAdapter(
        config=cfg,
        wgs_converter=mock.MagicMock(),
        covariance_projector=CovarianceProjector(fdr_client=fdr),
        fdr_client=fdr,
        flight_id="flt-az395",
        connect_factory=lambda device, baud: conn,
    )


def _port() -> PortConfig:
    return PortConfig(fc_kind=FcKind.ARDUPILOT_PLANE, device="/dev/null", baud=921600)


def _make_output(frame_id: UUID | int | None = None) -> EstimatorOutput:
    if frame_id is None:
        frame_id = uuid4()
    elif isinstance(frame_id, int):
        frame_id = UUID(int=frame_id)
    return EstimatorOutput(
        frame_id=frame_id,
        position_wgs84=LatLonAlt(lat_deg=50.0, lon_deg=30.0, alt_m=100.0),
        orientation_world_T_body=Quat(w=1.0, x=0.0, y=0.0, z=0.0),
        velocity_world_mps=(0.0, 0.0, 0.0),
        covariance_6x6=np.eye(6, dtype=np.float64) * 0.25,
        source_label=PoseSourceLabel.VISUAL_PROPAGATED,
        last_satellite_anchor_age_ms=0,
        smoothed=False,
        emitted_at=0,
    )


# ----------------------------------------------------------------------
# AC-1 / AC-10: signing_key=None with ephemeral source generates the key


def test_ac1_ephemeral_generates_key_when_none_passed() -> None:
    conn = _ConnStub()
    adapter = _build_adapter(conn, signing_key_source="ephemeral_per_flight")
    adapter.open(_port(), signing_key=None)
    try:
        assert len(conn.setup_signing_calls) == 1
        assert len(conn.setup_signing_calls[0]) == 32
    finally:
        adapter.close()


# ----------------------------------------------------------------------
# AC-2: two opens produce distinct ephemeral keys


def test_ac2_ephemeral_distinct_per_flight() -> None:
    conn1 = _ConnStub()
    a1 = _build_adapter(conn1, signing_key_source="ephemeral_per_flight")
    a1.open(_port(), signing_key=None)
    a1.close()
    conn2 = _ConnStub()
    a2 = _build_adapter(conn2, signing_key_source="ephemeral_per_flight")
    a2.open(_port(), signing_key=None)
    a2.close()
    assert conn1.setup_signing_calls[0] != conn2.setup_signing_calls[0]


# ----------------------------------------------------------------------
# AC-3: handshake failure raises SigningHandshakeError


def test_ac3_handshake_failure_raises(caplog: pytest.LogCaptureFixture) -> None:
    conn = _ConnStub(fail_signing=True)
    adapter = _build_adapter(conn, signing_key_source="ephemeral_per_flight")
    with caplog.at_level(logging.ERROR), pytest.raises(SigningHandshakeError):
        adapter.open(_port(), signing_key=None)
    assert any(
        getattr(rec, "kind", None) == "c8.ap.signing_handshake_failed" for rec in caplog.records
    )


# ----------------------------------------------------------------------
# AC-4: handshake success FDR record has NO key bytes


def test_ac4_handshake_success_fdr_has_no_key_bytes() -> None:
    conn = _ConnStub()
    adapter = _build_adapter(conn, signing_key_source="ephemeral_per_flight")
    adapter.open(_port(), signing_key=None)
    try:
        key = bytes(conn.setup_signing_calls[0])
        rotated_calls = [
            call
            for call in adapter._fdr_client.enqueue.mock_calls  # type: ignore[attr-defined]
            if call.args[0].payload.get("kind") == "c8.ap.signing_key_rotated"
        ]
        assert len(rotated_calls) == 1
        rec_payload = rotated_calls[0].args[0].payload
        # AC-4: assert NO key byte sub-sequence appears in the FDR payload.
        rendered = str(rec_payload)
        assert key.hex() not in rendered
        for i in range(0, len(key) - 4):
            chunk = key[i : i + 4].hex()
            assert chunk not in rendered, f"4-byte chunk leak at offset {i}"
    finally:
        adapter.close()


# ----------------------------------------------------------------------
# AC-5: key never in any log line


def test_ac5_key_never_in_logs(caplog: pytest.LogCaptureFixture) -> None:
    conn = _ConnStub()
    adapter = _build_adapter(conn, signing_key_source="ephemeral_per_flight")
    with caplog.at_level(logging.DEBUG):
        adapter.open(_port(), signing_key=None)
        for i in range(5):
            adapter.emit_external_position(_make_output(frame_id=i))
        adapter.close()
    key = bytes(conn.setup_signing_calls[0])
    rendered_logs = "\n".join(rec.getMessage() for rec in caplog.records)
    assert key.hex() not in rendered_logs
    pattern = re.compile(re.escape(key[:4].hex()))
    assert pattern.search(rendered_logs) is None


# ----------------------------------------------------------------------
# AC-6: mid-flight signing failure does NOT raise


def test_ac6_mid_flight_signing_failure_no_raise(caplog: pytest.LogCaptureFixture) -> None:
    conn = _ConnStub(signing_failure_count=5)
    adapter = _build_adapter(conn, signing_key_source="ephemeral_per_flight")
    adapter.open(_port(), signing_key=None)
    try:
        with caplog.at_level(logging.ERROR):
            adapter.emit_external_position(_make_output())
            adapter.emit_external_position(_make_output(frame_id=2))
        assert any(getattr(rec, "kind", None) == "c8.ap.signing_failure" for rec in caplog.records)
        assert any(sev == int(Severity.WARNING.value) for sev, _ in conn.mav.statustext_calls)
    finally:
        adapter.close()


# ----------------------------------------------------------------------
# AC-7: key zeroisation on close


def test_ac7_key_zeroisation_on_close(caplog: pytest.LogCaptureFixture) -> None:
    conn = _ConnStub()
    adapter = _build_adapter(conn, signing_key_source="ephemeral_per_flight")
    adapter.open(_port(), signing_key=None)
    # Grab a direct reference to the bytearray buffer so we can inspect
    # it after close() — bytearray is mutable so the zeroisation in
    # _zeroise_signing_key wipes this same buffer in place.
    key_buf = adapter._signing_key
    assert key_buf is not None
    assert any(b != 0 for b in key_buf)  # non-zero before close
    with caplog.at_level(logging.INFO):
        adapter.close()
    assert all(b == 0 for b in key_buf)
    assert any(getattr(rec, "kind", None) == "c8.ap.signing_key_zeroised" for rec in caplog.records)


# ----------------------------------------------------------------------
# AC-8: BUILD_DEV_STATIC_KEY=ON enables static repeatable key path


def test_ac8_dev_static_key_repeatable(monkeypatch: pytest.MonkeyPatch) -> None:
    monkeypatch.setenv("BUILD_DEV_STATIC_KEY", "ON")
    conn1 = _ConnStub()
    a1 = _build_adapter(conn1, signing_key_source="dev_static", dev_static_key=_DEV_STATIC_KEY)
    a1.open(_port(), signing_key=None)
    a1.close()
    conn2 = _ConnStub()
    a2 = _build_adapter(conn2, signing_key_source="dev_static", dev_static_key=_DEV_STATIC_KEY)
    a2.open(_port(), signing_key=None)
    a2.close()
    assert conn1.setup_signing_calls[0] == conn2.setup_signing_calls[0]
    assert conn1.setup_signing_calls[0].hex() == _DEV_STATIC_KEY


def test_ac8_dev_static_key_blocked_without_build_flag(monkeypatch: pytest.MonkeyPatch) -> None:
    monkeypatch.delenv("BUILD_DEV_STATIC_KEY", raising=False)
    conn = _ConnStub()
    adapter = _build_adapter(conn, signing_key_source="dev_static", dev_static_key=_DEV_STATIC_KEY)
    with pytest.raises(FcOpenError, match="BUILD_DEV_STATIC_KEY"):
        adapter.open(_port(), signing_key=None)


# ----------------------------------------------------------------------
# AC-9 (indirect): mid-flight signing failure STATUSTEXT severity = WARNING.
# AC-3 handshake-failure raises and logs ERROR; the STATUSTEXT severity is
# not exercised because handshake-failure aborts open() before any emit.


def test_ac9_statustext_severity_on_mid_flight_failure() -> None:
    conn = _ConnStub(signing_failure_count=5)
    adapter = _build_adapter(conn, signing_key_source="ephemeral_per_flight")
    adapter.open(_port(), signing_key=None)
    try:
        adapter.emit_external_position(_make_output())
        # First STATUSTEXT is the signing-failure WARNING; subsequent
        # provenance STATUSTEXT may follow at INFO. Assert at least one
        # WARNING was emitted.
        assert any(sev == int(Severity.WARNING.value) for sev, _ in conn.mav.statustext_calls)
    finally:
        adapter.close()


# ----------------------------------------------------------------------
# AC-10: AZ-393 placeholder tightened — `signing_key_source="none"` is the
# only path that bypasses signing; `"ephemeral_per_flight"` rejects no key
# via an internally generated one (and AC-1 verified that). The matching
# tightening surface is that an unknown source is rejected.


def test_ac10_unknown_signing_source_rejected() -> None:
    # FcConfig enforces the allowed-source list at config-load time, so
    # an explicit "explicit" source is rejected before the adapter sees
    # it. We exercise the FcOpenError path by patching the validated
    # config in place (test seam).
    conn = _ConnStub()
    adapter = _build_adapter(conn, signing_key_source="none")
    # Mutate the validated config in place to simulate an unknown source
    # slipping past validation (defence-in-depth) — adapter must refuse.
    object.__setattr__(adapter._config.fc, "signing_key_source", "bogus")  # type: ignore[arg-type]
    with pytest.raises(FcOpenError, match="unknown signing_key_source"):
        adapter.open(_port(), signing_key=None)