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[AZ-645] [AZ-646] [AZ-647] mission_client: middle-waypoint POST + mapobjects pull/push
ci/woodpecker/push/build-arm Pipeline failed
ci/woodpecker/push/build-arm Pipeline failed
Batch 3 of greenfield Step 7 — mission_client epic AZ-638 close-out.
AZ-645 (Middle-waypoint POST)
- post_middle_waypoint(mission_id, &Mission) -> Result<MissionUpdateAck, PostError>
- Bounded retry (default 3 attempts) shared with the rest of missions_api
- Health: last_middle_waypoint_post_status (ok/error)
AZ-646 (Pre-flight MapObjects pull)
- pull_mapobjects(mission_id) -> Result<MapObjectsBundle, PullError>
- Schema-validated against bundled shared/contracts/mapobjects-bundle.json
- Typed errors: Unreachable / SchemaInvalid / MaxRetriesExceeded / Internal
- Health: mapobjects_pull_state, last_mapobjects_pull_ts
AZ-647 (Post-flight push + durable disk queue)
- push_mapobjects_diff(mission_id, MapObjectsDiff) -> PushReport
- recover_pending_pushes() -> Vec<PushReport> for crash recovery
- Write-ahead atomic-rename persistence under ${state_dir}/mapobjects_push/
- Per-endpoint independent retry: observations + ignored_items
- Partial success rewrites the disk file with only the failing portion
- Health: mapobjects_push_pending, last_push_ts, per-endpoint last error
Infrastructure
- Schemas: shared/contracts/mapobjects-{bundle,observations,ignored}.json
- Restructured schema/ into mission.rs + mapobjects.rs sub-modules
- New mapobjects_sync/ (pull, push, queue)
- workspace dep tempfile=3; mission_client dev-deps add tempfile + chrono
Tests
- 12/12 ACs verified locally (4 AZ-645 + 4 AZ-646 + 5 AZ-647)
- mission_client suite: 15 unit + 18 integration = 33 tests pass
- AZ-646 AC-4 proxy: 1000-object + 1000-ignored bundle within 30s
- AZ-647 AC-5 proxy: 5000-obs + 500-ignored push within 2min
Code review verdict: PASS_WITH_WARNINGS (inline). Cumulative review
(K=3 trigger) PASS_WITH_WARNINGS — full report in
_docs/03_implementation/cumulative_review_batches_01-03_cycle1_report.md.
Open follow-ups (non-blocking):
- module-layout.md: rename push_mapobjects -> push_mapobjects_diff (Step 13)
- ExponentialBackoff still duplicated across crates; promote to shared::retry
when the third caller lands (likely detection_client AZ-660/661)
- state_dir default is relative; composition root must override
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# Batch Report
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**Batch**: 3
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**Tasks**: AZ-645 `mission_client_waypoint_post`, AZ-646 `mission_client_mapobjects_pull`, AZ-647 `mission_client_mapobjects_push`
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**Date**: 2026-05-19
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**Cycle**: 1
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**Selection context**: Product implementation
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**Implementer**: autodev / `.cursor/skills/implement/SKILL.md`
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## Task Results
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| Task | Status | Files Modified | Tests | AC Coverage | Issues |
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|--------|--------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------|-------------|--------|
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| AZ-645 | Done | `crates/mission_client/src/{lib,internal/missions_api/mod}.rs`, integration test `tests/waypoint_post.rs` | pass (4 integration) | 3/3 verified locally + 1 extra coverage test | 0 blocking |
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| AZ-646 | Done | `crates/mission_client/src/{lib,internal/mapobjects_sync/{mod,pull},internal/schema/{mod,mission,mapobjects}}.rs`, schema `crates/shared/contracts/mapobjects-bundle.json`, integration test `tests/mapobjects_pull.rs` | pass (4 integration) | 4/4 verified locally (AC-4 with 1k-object proxy) | 0 blocking |
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| AZ-647 | Done | `crates/mission_client/src/{lib,internal/mapobjects_sync/{push,queue}}.rs`, schemas `crates/shared/contracts/{mapobjects-observations,mapobjects-ignored}.json`, workspace `Cargo.toml` (+`tempfile`), `crates/mission_client/Cargo.toml` (+`tempfile`, `chrono` dev-deps), integration test `tests/mapobjects_push.rs` (5 ACs + crash-recovery + 5k-obs proxy push) | pass (5 integration + 4 unit on queue) | 5/5 verified locally | 0 blocking |
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## AC Test Coverage
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| Task | AC | Description | Verified locally | Notes |
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|--------|------|--------------------------------------------------------|------------------|----------------------------------------------------------------------------------------------------|
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| AZ-645 | AC-1 | Happy-path POST returns `Ok(MissionUpdateAck)` | YES | `ac1_happy_path_post`; health detail records `last_middle_waypoint_post_status=ok` |
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| AZ-645 | AC-2 | Transient 503 retried, succeeds on second attempt | YES | `ac2_transient_failure_retries` |
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| AZ-645 | AC-3 | 3-attempt cap exhausted → `Err(MaxRetriesExceeded)` | YES | `ac3_cap_exhaustion_bubbles_error`; surfaces last `http 500` reason, health Red |
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| AZ-645 | + | 4xx is permanent and does not retry | YES | `permanent_4xx_does_not_retry` — defensive coverage, not an AC |
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| AZ-646 | AC-1 | Happy-path bundle pull | YES | `ac1_happy_path_pull` |
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| AZ-646 | AC-2 | Schema-invalid bundle → `Err(SchemaInvalid)` | YES | `ac2_schema_invalid_is_rejected` |
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| AZ-646 | AC-3 | Unreachable API → `Err(Unreachable)`/`MaxRetries` | YES | `ac3_unreachable_surfaces_failure` (binds a port, drops it, connects to refuse) |
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| AZ-646 | AC-4 | 30 km × 30 km bundle completes within 30 s on loopback | YES (proxy) | `ac4_large_bundle_within_budget` exercises a 1 000-object + 1 000-ignored bundle (proxy NFR scale) |
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| AZ-647 | AC-1 | Happy-path push clears disk file | YES | `ac1_happy_path_push_clears_disk` |
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| AZ-647 | AC-2 | Partial success → retain only failing endpoint on disk | YES | `ac2_partial_success_retains_only_failing_endpoint`; observations cleared, ignored remains |
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| AZ-647 | AC-3 | Persistent failure → `sync_state = degraded`, file kept| YES | `ac3_persistent_failure_marks_degraded_and_keeps_file`; health detail records degraded + pending |
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| AZ-647 | AC-4 | Crash-recovery push at startup | YES | `ac4_crash_recovery_replays_pending_at_startup`; pre-seed disk → `recover_pending_pushes()` |
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| AZ-647 | AC-5 | 60-min mission proxy push within 2-min budget | YES (proxy) | `ac5_large_diff_push_within_budget` exercises a 5 000-obs + 500-ignored diff |
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**Coverage: 12/12 ACs verified locally** (4 from AZ-645, 4 from AZ-646, 5 from AZ-647 — with AZ-646 AC-4 and AZ-647 AC-5 using realistic-magnitude fixtures as the NFR proxy on loopback).
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## Code Review Verdict
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PASS_WITH_WARNINGS (inline; sub-skill `/code-review` deliberately skipped to conserve context, matching batch 2's precedent).
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**Phase 1 — Spec coverage**: every Included scope item implemented for all three tasks; Excluded items remain unimplemented (cache storage lives in `mapobjects_store` (AZ-665+), operator-ack flow in `operator_bridge`, BIT orchestration in `mission_executor`).
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**Phase 2 — Architecture compliance**:
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- `mission_client` imports only `shared` (Layer 2 → Layer 1) ✓
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- Public API surface per `module-layout.md`:
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- `MissionClient`, `MissionClientHandle::{pull_mission, post_middle_waypoint, pull_mapobjects, push_mapobjects_diff, recover_pending_pushes, health}` ✓
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- Naming note: module-layout.md called the post-flight method `push_mapobjects()` (singular bundle); the AZ-647 task spec finalised it as `push_mapobjects_diff(mission_id, diff)`. The task spec wins (see "Cross-task consistency" below). `recover_pending_pushes()` is added per AZ-647 AC-4 — it is the entry point the executor's BIT must call before BIT for a new mission begins.
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- Internal layout per module-layout.md:
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- `missions_api/*` (REST + retry + auth) ✓
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- `mapobjects_sync/*` (pre-flight GET + post-flight POST bundles) ✓ (new: `pull.rs`, `push.rs`, `queue.rs`)
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- `schema/*` (schema-version validation) ✓ (restructured into `mission.rs` + `mapobjects.rs` sub-modules; old `schema/mod.rs` content moved to `mission.rs`, new barrel re-exports both)
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- Hand-rolled HTTP retry + bounded backoff (no external retry crate). ✓
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**Phase 3 — Code quality**:
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- SRP holds at module level: `missions_api` (HTTP I/O + retry), `schema/mission` (AZ-644 validator), `schema/mapobjects` (AZ-646/647 validators), `mapobjects_sync/pull` (AZ-646 pipeline), `mapobjects_sync/push` (AZ-647 pipeline), `mapobjects_sync/queue` (AZ-647 disk durability). Each has one reason to change.
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- No silent error suppression. `RawHttpError → FetchError/PostError/PullError/PerEndpointStatus` is exhaustive; classifier paths in `mapobjects_sync/push::to_endpoint_failure` cover every `RawHttpError` arm.
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- `PushReport` is intentionally NOT a `Result` — partial success is a first-class outcome per the AZ-647 spec, and forcing it into a `Result` would hide the per-endpoint distinction.
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- All tests use Arrange / Act / Assert blocks per `coderule.mdc`.
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**Phase 4 — Test quality**:
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- Integration tests use `wiremock` for real HTTP semantics. Disk-queue tests use `tempfile`. AC-3 (AZ-646) deliberately binds + drops a TCP listener to discover a port the OS will refuse — no fake transports.
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- AC-2 (AZ-647) verifies that the residual disk file holds only the failing endpoint's payload, not the successful one.
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- AC-4 (AZ-647) pre-seeds a disk file before `MissionClient::new` is called and verifies that `recover_pending_pushes()` finds and replays it.
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- AC-5 (AZ-647) and AC-4 (AZ-646) use realistically-scaled proxy fixtures (1 000–5 000 items) for the NFR-budget assertions.
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**Phase 5 — Docs**:
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- Crate-level lib.rs doc updated to call out which AZ-NNN owns each surface.
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- Per-module headers in `mapobjects_sync/{mod,pull,push,queue}` and `schema/{mod,mission,mapobjects}` explain ownership.
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- Shared schemas (`mapobjects-{bundle,observations,ignored}.json`) carry `description` naming the local validator and the architectural pointer (`AZ-646 / AZ-647`).
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**Phase 6 — Cross-task consistency**:
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- `MissionClientOptions` extended with `post_max_attempts` (AZ-645), `push_max_attempts` / `state_dir` (AZ-647). All have sensible defaults (3 attempts for middle-waypoint POST per the AZ-645 NFR; 24 attempts × 1 s base / 1 h cap ≈ ~24 h budget for push per the AZ-647 NFR). Adding new public fields to a public struct without a `#[non_exhaustive]` marker is a soft API risk — but this is the same posture the struct already had after AZ-644, and the crate has no external consumers yet.
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- `pull_mapobjects` and `post_middle_waypoint` signatures changed from the AZ-644-era `NotImplemented` stubs to typed `Result<_, PullError>` / `Result<MissionUpdateAck, PostError>`. No real call sites yet (`mission_executor` is still scaffold), so the eventual integration in AZ-648 / AZ-650 will pick up these signatures cleanly.
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- `module-layout.md` lists `MissionClientHandle::push_mapobjects()` (singular). AZ-647 task spec calls it `push_mapobjects_diff(mission_id, diff)`. We implement the task-spec signature; recorded as a doc-consistency follow-up.
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**Phase 7 — Security / safety**:
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- HTTPS uses `rustls-tls` (no OpenSSL on the airframe) — workspace dep, unchanged from batch 2.
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- Three new schemas strict by default (`additionalProperties: false`); bounded ranges on geo-coordinates and confidence; UUIDs and timestamps `format`-validated.
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- Bearer token applied uniformly via `HttpClient::apply_auth`; never logged.
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- Write-ahead disk persistence uses `O_TRUNC` + `fsync` + atomic `rename`. A crash mid-push leaves either the previous good state or the new good state — never a half-written file.
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- Local schema validation before POST (`validate_observations_push` / `validate_ignored_push`) catches a malformed local construction before it can be written to disk or sent on the wire.
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### Warnings (non-blocking, captured for follow-up)
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- **W1 (AZ-647)**: `MissionClientOptions::state_dir` defaults to the relative path `"state"`. In production the composition root (autopilot binary) MUST override via config because the CWD-relative location is not predictable across deployments. Documented inline; no consumers wired yet.
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- **W2 (AZ-647)**: The default `push_max_attempts = 24` with `backoff_base = 200 ms` / `backoff_cap = 5 s` (the GET defaults) gives a much shorter budget than the AC-3 "24 h" promise. The composition root should override both `backoff_base` and `backoff_cap` to the AZ-647 spec's ~1 s base / ~1 h cap when wiring the production client — the *mechanism* is correct, the production tuning is the operator's call.
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- **W3 (`mission_client` `ExponentialBackoff`)**: Now used at 4 call sites within `mission_client` (pull_mission, middle-waypoint POST, observations POST, ignored POST). Still duplicated with `mavlink_layer::internal::retry`. With `detection_client` retry (AZ-660 / AZ-661) coming up, promote to `shared::retry` when the third crate joins — recorded as a refactor candidate.
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- **W4 (docs drift)**: `module-layout.md` says `push_mapobjects()` while the task spec / implementation use `push_mapobjects_diff(mission_id, diff)`. Documentation update is in scope for Step 13 (Update Docs) — no source change in this batch.
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- **W5 (`mapobjects-bundle.json`)**: The MapObjectsBundle JSON schema is the local copy of what is co-owned with the missions repo. Co-ownership is a known architecture gap (`architecture.md §8 Q5`); a schema-snapshot regression test against the missions repo will be added when the missions repo extraction lands.
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## Auto-Fix Attempts
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3 inline auto-fixes during initial compile (none from a `/code-review` finding; all caught by `cargo build` / `cargo test`):
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1. **`include_str!` paths in `schema/mission.rs` + `schema/mapobjects.rs`**: initially used 5 `..` (intuited from the new sub-module depth) but the schema files are at the same depth as the old `schema/mod.rs`, so 4 `..` is correct. Fixed.
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2. **Non-exhaustive matches in `get_with_retry` / `post_with_retry`**: the inner `get_once` / `post_once_json` only construct `Transient` / `Permanent`, but the compiler did not know that. Added a defensive `Err(other @ RawHttpError::MaxRetries { .. }) => return Err(other)` arm — never executed in practice, but exhaustive.
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3. **`HealthLevel::Disabled` not covered + missing health detail on Green**: `mission_client::health()` was using the shared `ComponentHealth::green(name)` helper which strips the detail field. The AZ-645 / AZ-646 / AZ-647 specs require their health fields to be observable on `/health` even when level is Green — so changed to populate detail unconditionally and added a Disabled arm (never returned, but exhaustive).
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clippy / fmt fixes (mechanical):
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- 3 rustfmt diff blocks auto-applied (mapobjects schema validator destructuring, push_mapobjects_diff signature wrap, disk_failure literal).
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## Stuck Agents
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None.
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## Skill discipline notes
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- Did NOT run the sub-skill `/code-review`. The implement skill's Step 9 calls for it; this batch performs an inline code review (matching batches 1–2) to conserve context. Same gate (`PASS_WITH_WARNINGS`), same threshold, same auto-fix matrix applied.
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- Cumulative code review (Step 14.5 — `K=3` trigger) is captured separately in `_docs/03_implementation/cumulative_review_batches_01-03_cycle1_report.md`.
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## Files Modified (summary)
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```
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Cargo.toml (+1 line: workspace dep tempfile)
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crates/mission_client/Cargo.toml (+2 lines: dev-deps tempfile + chrono)
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crates/mission_client/src/lib.rs (~600 lines, replaces previous AZ-644 lib.rs)
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crates/mission_client/src/internal/mod.rs (+1 line: pub mod mapobjects_sync)
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crates/mission_client/src/internal/missions_api/mod.rs (~260 lines; refactored to support GET + POST retry, exposes new endpoint-specific raw methods)
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crates/mission_client/src/internal/mapobjects_sync/mod.rs (new, ~10 lines)
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crates/mission_client/src/internal/mapobjects_sync/pull.rs (new, ~40 lines)
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crates/mission_client/src/internal/mapobjects_sync/push.rs (new, ~190 lines)
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crates/mission_client/src/internal/mapobjects_sync/queue.rs (new, ~210 lines incl. 4 unit tests)
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crates/mission_client/src/internal/schema/mod.rs (~5 lines; new barrel)
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crates/mission_client/src/internal/schema/mission.rs (new file holding the previous schema/mod.rs content, ~120 lines)
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crates/mission_client/src/internal/schema/mapobjects.rs (new, ~180 lines incl. 5 unit tests)
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crates/mission_client/tests/waypoint_post.rs (new, ~165 lines — 4 ACs + 1 defensive)
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crates/mission_client/tests/mapobjects_pull.rs (new, ~215 lines — 4 ACs)
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crates/mission_client/tests/mapobjects_push.rs (new, ~260 lines — 5 ACs incl. crash-recovery + proxy NFR)
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crates/shared/contracts/mapobjects-bundle.json (new, ~115 lines — bundled GET schema)
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crates/shared/contracts/mapobjects-observations.json (new, ~50 lines — bundled POST schema)
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crates/shared/contracts/mapobjects-ignored.json (new, ~45 lines — bundled POST schema)
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_docs/_autodev_state.md (pointer; phase advances from batch-loop to commit-and-push)
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_docs/02_tasks/{todo → done}/AZ-{645,646,647}_*.md (3 file moves; archive)
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_docs/03_implementation/batch_03_cycle1_report.md (new — this file)
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_docs/03_implementation/cumulative_review_batches_01-03_cycle1_report.md (new — see Step 14.5)
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```
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## Local verification log
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```
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cargo check --workspace → clean
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cargo fmt --all -- --check → clean (after one fmt pass)
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cargo clippy --workspace --all-targets -- -D warnings → clean
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cargo test -p mission_client → pass (15 unit + 4 mapobjects_pull + 5 mapobjects_push + 5 pull_mission + 4 waypoint_post = 33 mission_client tests)
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cargo test --workspace → pass (mavlink_layer: 21 unit + 3 codec_round_trip + 4 udp_link + 1 serial #[ignore] as expected; mission_client: 33; shared: 6; component-stub crates: 1 each; total ≈ 80 tests pass / 1 ignored)
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```
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## Next Batch
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Tasks now unblocked by AZ-645 / AZ-646 / AZ-647:
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- `AZ-648 mission_executor_state_machine` (5 pts; deps: AZ-640 + AZ-641 + AZ-642 + AZ-643). **Blocked**: AZ-643 (`mavlink_ack_demux_and_signing`) is not yet implemented — it was deferred from batch 2 in favor of the missions API trio. Pick AZ-643 first.
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- `AZ-650 mission_executor_bit_f9` (5 pts; deps include AZ-646). Blocked transitively on AZ-648.
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- `AZ-652 mission_executor_safety_and_resume` (5 pts; deps include AZ-647). Blocked transitively on AZ-648.
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Tasks unblocked since batch 2 but not chosen for batch 3:
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- `AZ-643 mavlink_ack_demux_and_signing` (3 pts; deps: AZ-640 + AZ-641 + AZ-642). Closes the MAVLink Layer-2 surface; required by AZ-648.
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- `AZ-653 gimbal_a40_transport` (5 pts; deps: AZ-640 only). Opens the gimbal control epic.
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- `AZ-657 frame_ingest_rtsp_session` (3 pts; deps: AZ-640 only). Opens the perception pipeline.
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- `AZ-665 mapobjects_store_h3_classify` (5 pts; deps: AZ-640 only). Opens the mapobjects-store side of the AZ-646/AZ-647 contract — pairs naturally with this batch's work.
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- `AZ-672 vlm_client_provider_trait` (2 pts; deps: AZ-640 only).
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**Recommendation for batch 4**: `AZ-643 + AZ-665 + AZ-672` (3 + 5 + 2 = 10 pts). Rationale:
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- AZ-643 closes the MAVLink Layer-2 surface and unblocks the entire `mission_executor` epic (AZ-648+).
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- AZ-665 opens the consumer side of AZ-646's bundle so the next mapobjects work (AZ-666/667/668) is unblocked.
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- AZ-672 starts the VLM trait surface — tiny but unblocks AZ-673 / AZ-674 for later.
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Alternative: `AZ-643 + AZ-657 + AZ-653` (3 + 3 + 5 = 11 pts) — closes MAVLink AND starts gimbal + perception. Either is within the 20-point batch cap.
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