mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 15:11:12 +00:00
Oleksandr Bezdieniezhnykh
f25cae4a82
Implement the AC-8.6 (top-K=10 retrieval scale-ratio + scene-change
PARTIAL) and AC-8.2 / AC-NEW-6 (stale aged-tile rejection) blackbox
scenarios.
AZ-423 (FT-P-19, 3pt) helpers + scenario:
- retrieval_evaluator.py — top-K within-distance evaluator (60 stills
vs 100 m budget), scene-change PARTIAL recorder (always emits
PARTIAL on the 2 _gmaps.png pairs), FDR record projectors, CSV
writers.
- tests/positive/test_ft_p_19_sat_reloc_scale.py (6 parametrised
variants).
AZ-427 (FT-N-05, 2pt) helpers + scenario:
- aged_tile_rejection_evaluator.py — Signal A (stale rejection at
load) + Signal B (per-frame downgrade) decision matrix, reuses
ALLOWED_SOURCE_LABELS from estimate_schema.
- tests/negative/test_ft_n_05_stale_tile_rejection.py (12 parametrised
variants: FC × VIO × {7mo/active-conflict, 13mo/rear}).
48 new unit tests cover every helper branch. Both scenarios skip
when sitl_replay_ready is false and fail loudly when fixture records
are missing.
Per-batch review: PASS_WITH_WARNINGS (2 Low — production-dependency
surface, FDR-kind constant duplication).
Cumulative review 82-84: PASS (2 Low carry-over / hygiene candidate).
Co-authored-by: Cursor <cursoragent@cursor.com>
163 lines
7.0 KiB
Python
163 lines
7.0 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/tile_cache_inspector.py",
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"runner/helpers/mid_flight_tile_evaluator.py",
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"runner/helpers/mock_suite_sat_audit.py",
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"runner/helpers/retrieval_evaluator.py",
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"runner/helpers/aged_tile_rejection_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/positive/test_ft_p_15_cache_schema.py",
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"tests/positive/test_ft_p_16_offline_only.py",
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"tests/positive/test_ft_p_17_mid_flight_tiles.py",
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"tests/positive/test_ft_p_18_no_raw_retention.py",
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"tests/positive/test_ft_p_19_sat_reloc_scale.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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"tests/negative/test_ft_n_05_stale_tile_rejection.py",
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"tests/negative/test_ft_n_06_mid_flight_freshness.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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