gps-denied-onboard/e2e/docker/docker-compose.test.yml

# Tier-1 docker-compose entrypoint for the gps-denied-onboard blackbox e2e harness.
#
# Spec sources (single source of truth):
#   _docs/02_document/tests/environment.md   § Docker Environment
#   _docs/02_tasks/todo/AZ-406_test_infrastructure.md
#
# Layout note: AZ-406 introduces this file; later test-task batches may add
# per-scenario override files alongside it (e.g. negative path injectors).
# This base file MUST stay self-contained — every override is purely additive.
#
# Build context (`build.context: ../..`) is the repo root, so the SUT image
# build sees `src/`, `cpp/`, `docker/Dockerfile`, and `pyproject.toml`.

services:

  gps-denied-onboard:
    build:
      context: ../..
      dockerfile: docker/companion-tier1.Dockerfile
      args:
        BUILD_VINS_MONO: "OFF"
    image: gps-denied-onboard:e2e
    networks: [e2e-net]
    volumes:
      - tile-cache-fixture:/var/azaion/tile-cache:ro
      - fdr-output:/var/azaion/fdr
    environment:
      ONBOARD_FC_ADAPTER: ${FC_ADAPTER:-ardupilot}
      ONBOARD_VIO_STRATEGY: ${VIO_STRATEGY:-okvis2}
      MAVLINK_SIGNING_PASSKEY_FILE: /run/secrets/mavlink_passkey
    secrets:
      - mavlink_passkey
    depends_on:
      - mock-suite-sat-service
    healthcheck:
      test: ["CMD", "python", "-c", "from gps_denied_onboard.healthcheck import check; check()"]
      interval: 5s
      retries: 12

  ardupilot-plane-sitl:
    image: ardupilot/ardupilot-sitl:plane-stable
    networks: [e2e-net]
    command: ["--vehicle=ArduPlane", "--gps-type=14"]
    environment:
      # GPS_TYPE=14 selects MAV (external positioning) per ArduPilot SITL params.
      AP_PARAM_GPS_TYPE: "14"

  inav-sitl:
    image: inavflight/inav-sitl:9.0.0
    networks: [e2e-net]
    # iNav SITL exposes MSP on TCP 5760 (UART1) per docs/SITL/SITL.md

  mock-suite-sat-service:
    build: ../fixtures/mock-suite-sat
    image: mock-suite-sat-service:e2e
    networks: [e2e-net]
    environment:
      MOCK_SUITE_SAT_AUDIT_PATH: /audit
    volumes:
      - mock-audit:/audit
    healthcheck:
      test: ["CMD", "python", "-c", "import urllib.request, sys; sys.exit(0 if urllib.request.urlopen('http://localhost:8080/mock/health', timeout=2).status==200 else 1)"]
      interval: 5s
      retries: 12

  mavproxy-listener:
    image: ardupilot/mavproxy:latest
    networks: [e2e-net]
    command:
      - "--master=udp:0.0.0.0:14551"
      - "--logfile=/var/log/tlogs/${RUN_ID:-local}.tlog"
      - "--out=udp:e2e-runner:14552"
    volumes:
      - tlog-output:/var/log/tlogs

  e2e-runner:
    build: ../runner
    image: gps-denied-onboard-e2e-runner:latest
    networks: [e2e-net]
    environment:
      RUN_ID: ${RUN_ID:-local}
      FC_ADAPTER: ${FC_ADAPTER:-ardupilot}
      VIO_STRATEGY: ${VIO_STRATEGY:-okvis2}
      TIER: tier1-docker
      MAVLINK_PASSKEY_PATH: /test-fixtures/secrets/mavlink-test-passkey.txt
      MOCK_SUITE_SAT_URL: http://mock-suite-sat-service:8080
      AP_SITL_HOST: ardupilot-plane-sitl
      INAV_SITL_HOST: inav-sitl
      MAVPROXY_LISTENER_HOST: mavproxy-listener
    volumes:
      - ../../_docs/00_problem/input_data:/test-data:ro
      - ../../_docs/00_problem/input_data/expected_results:/expected:ro
      - ../fixtures:/test-fixtures:ro
      - ../tests:/test-suite:ro
      - fdr-output:/fdr:ro
      - tlog-output:/tlogs:ro
      - e2e-results:/e2e-results
      - mock-audit:/mock-audit:ro
    command:
      - "pytest"
      - "/test-suite"
      - "--csv=/e2e-results/run-${RUN_ID:-local}/report.csv"
      - "--csv-columns=test_id,test_name,traces_to,fc_adapter,vio_strategy,tier,started_at_utc,execution_time_ms,result,error_message,evidence_paths"
      - "--evidence-out=/e2e-results/run-${RUN_ID:-local}/evidence"
    depends_on:
      gps-denied-onboard:
        condition: service_healthy
      mock-suite-sat-service:
        condition: service_healthy
      ardupilot-plane-sitl:
        condition: service_started
      inav-sitl:
        condition: service_started
      mavproxy-listener:
        condition: service_started

networks:
  e2e-net:
    driver: bridge
    # CRITICAL: enforces RESTRICT-SAT-1 / NFT-SEC-02 / NFT-SEC-05 at the network layer.
    # The SUT, mock, runner, and SITLs can talk to each other but none of them can
    # reach the public internet (no DNS, no egress). The e2e-runner verifies this
    # at runtime by attempting a TCP connect to 1.1.1.1:443 (AC-5).
    internal: true

volumes:
  # Size cap follows AC-NEW-3: each FDR file ≤ 64 GB. The volume layer cap is
  # belt-and-suspenders; the SUT enforces the cap internally per NFT-LIM-02.
  # `--storage-opt size=64g` requires overlay2 with xfs backing on the host —
  # most CI runners and macOS Docker Desktop hosts lack that combination, so
  # this base file uses the documented fallback (a plain named volume) and
  # relies on the SUT-internal cap. CI runners with overlay2+xfs can override
  # via a docker-compose.override.yml that re-introduces the tmpfs driver_opts.
  fdr-output: {}
  tile-cache-fixture: {}
  tlog-output: {}
  mock-audit: {}
  e2e-results:
    driver: local
    driver_opts:
      type: none
      device: ${PWD}/../../e2e-results
      o: bind

secrets:
  mavlink_passkey:
    file: ./secrets/mavlink_passkey