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[AZ-895] Deprecate replay auto-sync surface; file AZ-908 follow-up
Option A (minimum-deprecation, 2 SP) per user complexity-budget decision. Auto-sync stays importable as a raising stub for one cycle so external callers see a clean ReplayInputAdapterError instead of an ImportError. Full physical removal is filed as AZ-908 (cycle-5+ backlog). Production: - auto_sync.py: 700+ LOC -> 56-line no-op stub raising "auto-sync removed; supply --imu CSV instead" - tlog_video_adapter.py: 700+ LOC -> 105-line deprecated stub; ReplayInputAdapter.open() raises immediately, close() is a no-op - _replay_branch.py: dropped legacy auto-sync branch + _build_auto_sync_config; _validate_replay_paths now requires imu_csv_path; replay_input_adapter_factory parameter removed - cli/replay.py: --time-offset-ms / --skip-auto-sync / --auto-trim emit DeprecationWarning + stderr line; values ignored - tlog_replay_adapter.py + tlog_ground_truth.py docstrings: AUDIT-ONLY Tests: - DELETED test_az405_auto_sync, test_az405_replay_input_adapter, test_az698_window_alignment (covered code no longer runs) - ADDED test_az895_auto_sync_deprecated_stub (5 parametrised, pins AC-1) - test_az402_replay_cli: deprecation warnings + ignored-value asserts - test_az401_compose_root_replay: new imu_csv_path-required gate; deleted the calibration-loading test that relied on the removed replay_input_adapter_factory injection point - test_derkachi_real_tlog: xfail reason refreshed to AZ-848 + AZ-883 (AC-4 "AZ-848-scoped reason") Docs: - module-layout.md: replay_input file list flags deprecated modules, adds csv_ground_truth.py - _dependencies_table.md: +AZ-908 row, preamble + totals updated (179 -> 180 tasks, 567 -> 570 SP) - AZ-908 backlog spec added; AZ-895 spec moved todo -> done - batch_03_cycle4_report.md written Touched-module tests green (111 passed, 1 skipped). Full unit suite green: 2287 passed, 85 skipped, 1 deselected (pre-existing flaky perf test, unrelated). Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -16,14 +16,21 @@ shared composition spine while still exposing exactly one
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Build-flag gates (per replay protocol Invariant 9):
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- ``BUILD_VIDEO_FILE_FRAME_SOURCE`` — required for the
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:class:`VideoFileFrameSource` instance returned by the coordinator.
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- ``BUILD_TLOG_REPLAY_ADAPTER`` — required for the
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:class:`TlogReplayFcAdapter` instance returned by the coordinator.
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:class:`VideoFileFrameSource` instance.
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- ``BUILD_TLOG_REPLAY_ADAPTER`` — historical guard. The tlog adapter
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is no longer composed by replay (AZ-895 deprecated the (video, tlog)
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path), but the flag remains in :data:`REPLAY_BUILD_FLAGS` for one
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deprecation cycle so operator overrides keep their expected semantics.
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AZ-908 will drop the flag.
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- ``BUILD_REPLAY_SINK_JSONL`` — shared by the JSONL sink and the noop
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outbound transport.
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All three default ON in the airborne binary (per ADR-011); flipping any
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OFF disables replay mode without affecting live mode.
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AZ-895: the replay composition exclusively uses the (video, CSV) path
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via :class:`CsvReplayFcAdapter`. The legacy (video, tlog) auto-sync
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branch was removed; ``imu_csv_path`` is required.
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"""
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from __future__ import annotations
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@@ -48,13 +55,8 @@ from gps_denied_onboard.components.c8_fc_adapter.replay_sink import (
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from gps_denied_onboard.config import Config
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from gps_denied_onboard.fdr_client import make_fdr_client
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from gps_denied_onboard.frame_source.video_file import VideoFileFrameSource
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from gps_denied_onboard.helpers.wgs_converter import WgsConverter
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from gps_denied_onboard.logging import get_logger
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from gps_denied_onboard.replay_input import (
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AutoSyncConfig,
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ReplayInputAdapter,
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ReplayInputBundle,
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)
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from gps_denied_onboard.replay_input import ReplayInputBundle
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from gps_denied_onboard.replay_input.tlog_video_adapter import ReplayPace
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if TYPE_CHECKING:
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@@ -77,10 +79,6 @@ REPLAY_BUILD_FLAGS: Final[tuple[str, ...]] = (
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"BUILD_REPLAY_SINK_JSONL",
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)
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# AZ-894: separate build flag for the CSV adapter so the replay binary
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# can opt into the new path without disturbing the BUILD_TLOG_* gate
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# (the tlog adapter is still composed by _build_replay_input_bundle's
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# legacy branch until AZ-895 removes it).
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_CSV_REPLAY_BUILD_FLAG: Final[str] = "BUILD_CSV_REPLAY_ADAPTER"
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@@ -106,7 +104,6 @@ def build_replay_components(
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config: Config,
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*,
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fdr_client_factory: Any | None = None,
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replay_input_adapter_factory: Any | None = None,
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sink_factory: Any | None = None,
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transport_factory: Any | None = None,
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) -> tuple[dict[str, Any], tuple[str, ...]]:
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@@ -137,11 +134,10 @@ def build_replay_components(
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sink_fdr_client = fdr_factory("c8_fc_adapter.replay_sink", config)
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# AZ-558: build the outbound MAVLink transport BEFORE the FC adapter
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# so it can be threaded through `ReplayInputAdapter` and into
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# `TlogReplayFcAdapter`. The same instance is exposed as the
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# ``mavlink_transport`` slot in ``components`` (replay protocol
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# Invariant 5: encoders write through the seam in both modes;
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# replay drops the bytes via NoopMavlinkTransport).
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# so the same instance can be exposed as the ``mavlink_transport``
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# slot in ``components`` (replay protocol Invariant 5: encoders
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# write through the seam in both modes; replay drops the bytes via
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# NoopMavlinkTransport).
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if transport_factory is not None:
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transport = transport_factory(config)
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else:
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@@ -150,7 +146,6 @@ def build_replay_components(
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bundle = _build_replay_input_bundle(
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config,
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fdr_client=fdr_client,
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adapter_factory=replay_input_adapter_factory,
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mavlink_transport=transport,
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)
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@@ -187,19 +182,19 @@ def _validate_build_flags() -> None:
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def _validate_replay_paths(config: Config) -> None:
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"""Reject empty / missing replay paths early with a precise message.
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AZ-894: ``imu_csv_path`` is the canonical replay input. ``tlog_path``
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remains valid for the legacy auto-sync path until AZ-895 removes it,
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but exactly one of the two must be set so the composition root can
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pick a single branch.
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AZ-895: ``imu_csv_path`` is the only supported replay input. The
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legacy tlog auto-sync surface was deprecated in AZ-895 and will be
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physically removed in AZ-908; until then ``tlog_path`` may remain
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set in the config but is ignored by composition.
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"""
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if not config.replay.video_path:
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raise CompositionError(
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"config.replay.video_path is empty; replay mode requires a video path"
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)
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if not config.replay.imu_csv_path and not config.replay.tlog_path:
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if not config.replay.imu_csv_path:
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raise CompositionError(
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"config.replay.imu_csv_path is empty and no tlog_path fallback is set; "
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"replay mode requires an IMU+GPS CSV (AZ-894) or a tlog file (legacy)"
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"config.replay.imu_csv_path is empty; "
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"replay mode requires an IMU+GPS CSV (--imu PATH.csv)"
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)
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if not config.replay.output_path:
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raise CompositionError(
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@@ -211,61 +206,27 @@ def _build_replay_input_bundle(
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config: Config,
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*,
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fdr_client: "FdrClient",
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adapter_factory: Any | None,
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mavlink_transport: Any | None = None,
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) -> ReplayInputBundle:
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"""Build the replay input bundle and open the underlying strategies.
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AZ-894: branches on ``config.replay.imu_csv_path`` — when set, builds
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the :class:`CsvReplayFcAdapter` + :class:`VideoFileFrameSource` pair
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on a single canonical clock derived from the CSV's ``Time`` column;
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when unset, falls back to the legacy :class:`ReplayInputAdapter`
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tlog path (auto-sync + AC-9 validator). AZ-895 removes the legacy
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branch.
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AZ-895: the (video, CSV) path is the only supported composition.
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The legacy (video, tlog) auto-sync branch was removed; the
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:func:`_validate_replay_paths` gate above guarantees
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``imu_csv_path`` is set before this function runs.
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"""
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pace = _resolve_pace(config.replay.pace)
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target_fc_dialect = _resolve_fc_kind(config.replay.target_fc_dialect)
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camera_calibration = _load_camera_calibration(config)
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wgs_converter = WgsConverter()
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if config.replay.imu_csv_path:
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return _build_csv_bundle(
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config,
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fdr_client=fdr_client,
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pace=pace,
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target_fc_dialect=target_fc_dialect,
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camera_calibration=camera_calibration,
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mavlink_transport=mavlink_transport,
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)
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auto_sync = _build_auto_sync_config(config)
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if adapter_factory is not None:
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adapter = adapter_factory(
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config=config,
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camera_calibration=camera_calibration,
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target_fc_dialect=target_fc_dialect,
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wgs_converter=wgs_converter,
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fdr_client=fdr_client,
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pace=pace,
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auto_sync_config=auto_sync,
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mavlink_transport=mavlink_transport,
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)
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else:
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adapter = ReplayInputAdapter(
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video_path=Path(config.replay.video_path),
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tlog_path=Path(config.replay.tlog_path),
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camera_calibration=camera_calibration,
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target_fc_dialect=target_fc_dialect,
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wgs_converter=wgs_converter,
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fdr_client=fdr_client,
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pace=pace,
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manual_time_offset_ms=config.replay.time_offset_ms,
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skip_auto_sync_validation=config.replay.skip_auto_sync_validation,
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auto_trim=config.replay.auto_trim,
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auto_sync_config=auto_sync,
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mavlink_transport=mavlink_transport,
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)
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return adapter.open()
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return _build_csv_bundle(
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config,
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fdr_client=fdr_client,
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pace=pace,
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target_fc_dialect=target_fc_dialect,
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camera_calibration=camera_calibration,
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mavlink_transport=mavlink_transport,
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)
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def _build_csv_bundle(
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@@ -339,35 +300,6 @@ def _resolve_fc_kind(raw: str) -> FcKind:
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)
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def _build_auto_sync_config(config: Config) -> AutoSyncConfig:
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block = config.replay.auto_sync
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return AutoSyncConfig(
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takeoff_accel_threshold_g=block.takeoff_accel_threshold_g,
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takeoff_attitude_rate_threshold_rad_s=(
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block.takeoff_attitude_rate_threshold_rad_s
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),
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sustained_seconds=block.sustained_seconds,
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prescan_max_messages=block.prescan_max_messages,
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video_motion_threshold=block.video_motion_threshold,
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video_motion_scan_seconds=block.video_motion_scan_seconds,
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match_threshold_pct=block.match_threshold_pct,
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match_window_ms=block.match_window_ms,
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low_confidence_threshold=block.low_confidence_threshold,
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alignment_resample_hz=block.alignment_resample_hz,
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alignment_video_scan_seconds=block.alignment_video_scan_seconds,
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alignment_low_confidence_threshold=block.alignment_low_confidence_threshold,
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alignment_segment_motion_threshold_g=(
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block.alignment_segment_motion_threshold_g
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),
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alignment_segment_min_flight_duration_seconds=(
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block.alignment_segment_min_flight_duration_seconds
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),
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alignment_segment_max_internal_gap_seconds=(
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block.alignment_segment_max_internal_gap_seconds
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),
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)
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def _load_camera_calibration(config: Config) -> CameraCalibration:
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"""Read the camera calibration JSON into a :class:`CameraCalibration` DTO.
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@@ -427,12 +359,11 @@ def _log_ready(config: Config, bundle: ReplayInputBundle) -> None:
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"kind": _LOG_KIND_READY,
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"kv": {
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"video_path": config.replay.video_path,
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"tlog_path": config.replay.tlog_path,
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"imu_csv_path": config.replay.imu_csv_path,
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"output_path": config.replay.output_path,
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"pace": config.replay.pace,
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"resolved_offset_ms": bundle.resolved_time_offset_ms,
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"calib_path": config.runtime.camera_calibration_path,
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"auto_sync_used": bundle.auto_sync_result is not None,
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},
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},
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)
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