gps-denied-onboard/e2e/tests/security/test_nft_sec_04_opencv_cve.py

"""NFT-SEC-04 probe — OpenCV CVE-2025-53644 no-crash (AZ-439 / RESTRICT-CVE-1).

Always-runs (Tier-1 OR Tier-2). The crafted ``cve-2025-53644.jpg`` is
fed to the SUT's nav-camera as a single frame and the FDR archive is
inspected:

* AC-1a: at least one FDR record exists strictly after the probe
  injection (proves the SUT process did not crash);
* AC-1b: the FDR record matched within ``±tolerance_ms`` of the probe
  is one of ``decode-success`` or ``frame-decode-error`` (proves the
  SUT either decoded the patched JPEG or gracefully rejected it).

The companion ≥4 h ASan fuzz lives in
``test_nft_sec_04_asan_fuzz.py`` and is release-gated.

Production dependencies surfaced:

* **AZ-595**: emit ``nft_sec_04_cve_probe.json`` carrying
  ``probe_injected_at_ms`` + the per-frame FDR record sequence the
  runner captured;
* **SUT**: the SUT MUST honor its FDR per-frame outcome contract — a
  silent drop is treated as a defense-bypass failure even when the
  process does not crash.

Fixture JSON shape::

    {
      "probe_injected_at_ms": <int>,
      "tolerance_ms": <int, optional, default 50>,
      "fdr_records": [
        {"monotonic_ms": <int>, "kind": <str>}, ...
      ]
    }
"""

from __future__ import annotations

import json
import os
from pathlib import Path

import pytest

from runner.helpers import cve_probe_evaluator as cpe

NFT_SEC_04_FIXTURE_ENV_VAR = "E2E_NFT_SEC_04_FIXTURE"
NFT_SEC_04_DEFAULT_FIXTURE_NAME = "nft_sec_04_cve_probe.json"


@pytest.mark.scenario_id("nft-sec-04")
@pytest.mark.traces_to("RESTRICT-CVE-1,AC-1,AC-4")
def test_nft_sec_04_opencv_cve_probe(
    fc_adapter: str,
    vio_strategy: str,
    evidence_dir,  # type: ignore[no-untyped-def]
    run_id: str,
    nfr_recorder,  # type: ignore[no-untyped-def]
    sitl_replay_ready: bool,
) -> None:
    """SUT survives the crafted JPEG and records a deterministic outcome."""
    if not sitl_replay_ready:
        pytest.skip(
            "NFT-SEC-04 probe requires `E2E_SITL_REPLAY_DIR` to point at a "
            "prepared SITL replay fixture (AZ-595) carrying the post-probe "
            "FDR record sequence. Pure no-crash / outcome-classification "
            "logic covered by "
            "e2e/_unit_tests/helpers/test_cve_probe_evaluator.py."
        )

    fixture_path = _resolve_fixture_path()
    if not fixture_path.is_file():
        pytest.fail(
            f"NFT-SEC-04 probe: fixture not found at {fixture_path}. "
            f"`{NFT_SEC_04_FIXTURE_ENV_VAR}` env var must point at a JSON "
            "file with the schema documented in the scenario docstring. "
            "Production dependency: AZ-595."
        )

    payload = json.loads(fixture_path.read_text())
    probe_at_ms, tolerance_ms, fdr_records = _parse_payload(payload, fixture_path)
    report = cpe.evaluate(
        fdr_records,
        probe_injected_at_ms=probe_at_ms,
        tolerance_ms=tolerance_ms,
    )
    out_csv = (
        evidence_dir
        / "nft-sec-04"
        / f"{fc_adapter}-{vio_strategy}-probe.csv"
    )
    cpe.write_csv_evidence(out_csv, report)

    nfr_recorder.record_metric(
        "nft_sec_04.probe_outcome_is_decode_success",
        1.0 if report.probe_outcome is cpe.ProbeFrameOutcome.DECODE_SUCCESS else 0.0,
        ac_id="AC-1",
    )
    nfr_recorder.record_metric(
        "nft_sec_04.probe_outcome_is_graceful_error",
        1.0 if report.probe_outcome is cpe.ProbeFrameOutcome.FRAME_DECODE_ERROR else 0.0,
        ac_id="AC-1",
    )

    assert report.passes_no_crash, (
        f"AC-1a: SUT did not produce any FDR record after probe injection "
        f"at {report.probe_injected_at_ms} ms — process likely crashed. "
        f"last_fdr_record_at_ms={report.last_fdr_record_at_ms}."
    )
    assert report.passes_graceful_outcome, (
        f"AC-1b: SUT silently dropped the probe frame (no decode-success "
        f"or frame-decode-error in FDR within ±{tolerance_ms} ms of "
        f"probe injection at {report.probe_injected_at_ms} ms). Silent "
        f"drops are a defense-bypass failure even if the process did not "
        f"crash."
    )


def _resolve_fixture_path() -> Path:
    raw = os.environ.get(NFT_SEC_04_FIXTURE_ENV_VAR, "").strip()
    from runner.helpers import sitl_observer

    root = sitl_observer.replay_dir()
    if not raw:
        if root is None:
            return Path(f"<{NFT_SEC_04_FIXTURE_ENV_VAR}-unset>")
        return root / NFT_SEC_04_DEFAULT_FIXTURE_NAME
    path = Path(raw)
    if not path.is_absolute() and root is not None:
        path = root / path
    return path


def _parse_payload(
    payload: object, fixture_path: Path
) -> tuple[int, int, list[cpe.FdrSurvivalRecord]]:
    if not isinstance(payload, dict):
        pytest.fail(
            f"NFT-SEC-04 probe: fixture {fixture_path} must be a JSON object; "
            f"got top-level type={type(payload).__name__}"
        )
    try:
        probe_at = int(payload["probe_injected_at_ms"])
        tolerance = int(payload.get("tolerance_ms", 50))
    except (KeyError, TypeError, ValueError) as exc:
        pytest.fail(
            f"NFT-SEC-04 probe: fixture {fixture_path} missing/invalid "
            f"probe_injected_at_ms or tolerance_ms: {exc}"
        )
    raw_records = payload.get("fdr_records")
    if not isinstance(raw_records, list):
        pytest.fail(
            f"NFT-SEC-04 probe: fixture {fixture_path} 'fdr_records' must be a list"
        )
    records: list[cpe.FdrSurvivalRecord] = []
    for idx, entry in enumerate(raw_records):
        if not isinstance(entry, dict):
            pytest.fail(
                f"NFT-SEC-04 probe: fdr_records[{idx}] in {fixture_path} "
                f"must be an object"
            )
        try:
            records.append(
                cpe.FdrSurvivalRecord(
                    monotonic_ms=int(entry["monotonic_ms"]),
                    kind=str(entry["kind"]),
                )
            )
        except (KeyError, TypeError, ValueError) as exc:
            pytest.fail(
                f"NFT-SEC-04 probe: fdr_records[{idx}] in {fixture_path} "
                f"shape invalid: {exc}"
            )
    return probe_at, tolerance, records