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ROS-RVFT Guidelines for Developers and QA Teams
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    • Constraint Identification
      • CI1 — Timing constraints
      • CI2 — Security & privacy
      • CI3 — Safety constraints
    • Code Design & Implementation
      • CD1 — Single responsibility
      • CD2 — Time monotonicity
    • Instrumentation
      • I1 — Lifecycle API
      • I2 — Logging API
      • I3 — Fault injection API
      • I4 — Isolate components
    • Prepare Execution Environment
      • PE1 — Overhead criteria
      • PE2 — Runtime models
    • Specify Behavior
      • SDB1 — Logic-based
      • SDB2 — DSLs
      • SDB3 — Scenario-based
    • Monitor & Test Automation
      • MTA1 — Noise & fault injection
      • MTA2 — Automation
    • System Execution
      • SE1 — Record & replay
      • SE2 — Headless simulation
    • Analysis & Reporting
      • AR1 — Postmortem analysis
      • AR2 — Field data tooling

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