azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-22 05:21:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

[AZ-623] [AZ-625] Phase E: c282_ransac + c5 helpers; split handle work

Browse Source 
Wire 4 stateless / cached helpers into airborne_bootstrap.build_pre_constructed:
c282_ransac_filter, c5_imu_preintegrator (cached on calibration path),
c5_se3_utils (helpers.se3_utils module as namespace handle), c5_wgs_converter.

The original AZ-623 5th deliverable (c5_isam2_graph_handle) hit an
unresolvable construction-order conflict between c4_pose (consumes the handle)
and c5_state (creates it inside build_state_estimator's tuple return) under
the umbrella's "MUST NOT touch any per-component factory signature" constraint.
Per AZ-623 spec's escalation gate, scope was split: AZ-625 captures the handle
ordering work; AZ-624 dependency edge updated to require both.

Tests: tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py adds 7
tests covering AC-623.1..3 (4 new keys + correct types, IMU preintegrator
caching, operator-actionable error messages for empty / unreadable / malformed
calibration paths). Autouse stubs added to test_az619/620/621/622 so prior
phase tests remain isolated from new builders.

Quality gates: ruff format clean, ruff lint clean, 24/24 phase tests pass,
247/247 runtime_root + c5_state regression suite passes. Code review verdict
PASS_WITH_WARNINGS (3 Low findings; full report in
_docs/03_implementation/reviews/batch_94_review.md).

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-19 09:20:28 +03:00
parent 5c4d129f80
commit 02208c577e
13 changed files with 1014 additions and 151 deletions
Download Patch File Download Diff File Expand all files Collapse all files
_docs/02_tasks/done/AZ-623_pre_constructed_phase_e_ransac_c5_helpers.md
+63
View File
@@ -0,0 +1,63 @@
# AZ-623 — Phase E: build_pre_constructed seeds c282_ransac_filter + 3 c5 helpers
**Task**: AZ-623_pre_constructed_phase_e_ransac_c5_helpers
**Name**: AZ-618 Phase E: build_pre_constructed seeds c282_ransac_filter + c5 helpers
**Description**: Fifth subtask of AZ-618. Extends `airborne_bootstrap.build_pre_constructed(config)` to populate the small / stateless helper entries.
**Complexity**: 3 points
**Dependencies**: AZ-619, AZ-282 (RansacFilter), AZ-276 (ImuPreintegrator), AZ-277 (SE3Utils), AZ-279 (WgsConverter). All in `done/`.
**Component**: runtime_root (cross-cutting)
**Tracker**: AZ-623
**Epic**: AZ-602 (parent: AZ-618 umbrella)
## Scope split note (2026-05-19)
The original AZ-623 included `c5_isam2_graph_handle`. Path 1 of the spec's two-path investigation requires a Protocol seam change to `ISam2GraphHandleImpl` (handle is tightly coupled to `GtsamIsam2StateEstimator` via constructor injection); the AZ-618 umbrella forbids per-component factory signature changes. Per the spec's own escalation gate, the user was asked and chose to split: this ticket lands the 4 stateless helpers; AZ-625 (`AZ-618 follow-up: c5_isam2_graph_handle ordering`) lands the handle wiring with a documented in-bootstrap (estimator, handle) build + look-aside short-circuit pattern. AZ-624 (main wiring + AC verification) now blocks on BOTH AZ-623 and AZ-625.
## Outcome
- `build_pre_constructed(config)` adds keys `c282_ransac_filter`, `c5_imu_preintegrator`, `c5_se3_utils`, `c5_wgs_converter` on top of AZ-619..AZ-622. (`c5_isam2_graph_handle` moved to AZ-625.)
- New unit tests under `tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py`.
## Scope
### Included
- Internal builders for the 4 keys above. `c282_ransac_filter` and `c5_wgs_converter` return fresh stateless instances (`RansacFilter()`, `WgsConverter()`); `c5_se3_utils` returns the `gps_denied_onboard.helpers.se3_utils` module (consumers access functions as attributes; tests stub via `MagicMock` with the same attribute-access shape); `c5_imu_preintegrator` builds via `make_imu_preintegrator(camera_calibration)` with the calibration loaded from `config.runtime.camera_calibration_path` and the result cached per path.
- The calibration loader function in `airborne_bootstrap.py` mirrors the JSON shape `runtime_root._replay_branch._load_camera_calibration` already uses — same on-disk format, no new file format introduced.
- Unit tests covering AC-623.1 + AC-623.2.
### Excluded
- main() wiring (AZ-624).
- GPU-touching builders (AZ-621 / AZ-622).
- `c5_isam2_graph_handle` seeding (AZ-625, see Scope split note).
## Acceptance Criteria
**AC-623.1**: `build_pre_constructed(config)` adds the 4 keys above on top of AZ-619..AZ-622.
**AC-623.2**: invoking `build_pre_constructed(config)` twice within the same process produces a dict where `c5_imu_preintegrator` is the same object both times (cached by `config.runtime.camera_calibration_path`). The 3 stateless helpers may be either fresh or cached — caching is irrelevant for them.
**AC-623.3**: when `config.runtime.camera_calibration_path` is empty or unreadable, `_build_c5_imu_preintegrator` raises `AirborneBootstrapError` naming the missing input and the consuming component slug `c5_state` (operator-actionable error mirroring AC-3 / AC-622.2).
**AC-623.4**: `pytest tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py` covers AC-623.1 + AC-623.2 + AC-623.3.
## Implementation Notes
- `c5_se3_utils` returns the `helpers.se3_utils` MODULE (Python modules support attribute access for their public names; consumers store it as `self._se3_utils: Any` and call `self._se3_utils.exp_map(...)`). The `MagicMock()` fixture used by existing C5 estimator tests has the same shape.
- `c5_wgs_converter` returns `WgsConverter()` (instance of a static-only class) — same pattern `runtime_root._replay_branch.run` already uses (`wgs_converter = WgsConverter()`).
- `c282_ransac_filter` returns `RansacFilter()` (instance of a static-only class) — consumers (`c3_matcher`, `c3_5_adhop`, `c4_pose`) use it for attribute-dispatch only.
- `c5_imu_preintegrator` is the only stateful helper; its bias accumulator survives across `build_pre_constructed` invocations, hence the per-path cache.
## Constraints
- MUST NOT modify per-component factory signatures.
- MUST be additive on top of AZ-619..AZ-622.
## Evidence
- Umbrella spec: `_docs/02_tasks/todo/AZ-618_airborne_bootstrap_pre_constructed.md`
- Helper modules: `src/gps_denied_onboard/helpers/{ransac_filter,imu_preintegrator,se3_utils,wgs_converter}.py`
- `c5_state` factory: `src/gps_denied_onboard/runtime_root/state_factory.py`
- ISam2GraphHandle (deferred to AZ-625): `src/gps_denied_onboard/components/c5_state/_isam2_handle.py`
- Calibration loader pattern: `runtime_root/_replay_branch.py::_load_camera_calibration`
_docs/02_tasks/todo/AZ-623_pre_constructed_phase_e_ransac_c5_helpers.md
-58
View File
@@ -1,58 +0,0 @@
# AZ-623 — Phase E: build_pre_constructed seeds c282_ransac_filter + c5 helpers
**Task**: AZ-623_pre_constructed_phase_e_ransac_c5_helpers
**Name**: AZ-618 Phase E: build_pre_constructed seeds c282_ransac_filter + c5 helpers
**Description**: Fifth subtask of AZ-618. Extends `airborne_bootstrap.build_pre_constructed(config)` to populate the small / stateless helper entries plus the special-case `c5_isam2_graph_handle`.
**Complexity**: 3 points
**Dependencies**: AZ-619, AZ-282 (RansacFilter), AZ-276 (ImuPreintegrator), AZ-277 (SE3Utils), AZ-279 (WgsConverter), AZ-381 (ISam2GraphHandle). All in `done/`.
**Component**: runtime_root (cross-cutting)
**Tracker**: AZ-623
**Epic**: AZ-602 (parent: AZ-618 umbrella)
## Outcome
- `build_pre_constructed(config)` adds keys `c282_ransac_filter`, `c5_imu_preintegrator`, `c5_se3_utils`, `c5_wgs_converter`, `c5_isam2_graph_handle` on top of AZ-619..AZ-622.
- The `c5_isam2_graph_handle` ordering question (C4 wrapper consumes it BEFORE C5 wrapper runs in the topo order) is resolved here — not deferred to AZ-624.
- New unit tests under `tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py`.
## Scope
### Included
- Internal builders for the 5 keys above. Most are trivial constructions (`RansacFilter()`, `WgsConverter()`); `c5_imu_preintegrator` uses `make_imu_preintegrator(camera_calibration)`; `c5_se3_utils` is a thin namespace object exposing the module functions; `c5_isam2_graph_handle` is the per-strategy build (gtsam_isam2 / eskf).
- Resolution of the C4-before-C5 ordering for `c5_isam2_graph_handle`. Investigation budget ≤1 hour.
- Unit tests covering AC-623.1 + AC-623.2.
### Excluded
- main() wiring (AZ-624).
- Any GPU-touching builders (AZ-621 / AZ-622).
## Acceptance Criteria
**AC-623.1**: `build_pre_constructed(config)` adds the 5 keys above on top of AZ-619..AZ-622.
**AC-623.2**: invoking twice produces dicts where stateless helpers (`c282_ransac_filter`, `c5_wgs_converter`, `c5_se3_utils`) may be either fresh or cached; `c5_imu_preintegrator` and `c5_isam2_graph_handle` MUST be the same instance across calls within the same process (cached) — this matches the per-component factory's identity expectations.
**AC-623.3**: `pytest tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py` covers AC-623.1 + AC-623.2.
## Implementation Note
The `c5_isam2_graph_handle` / `build_state_estimator` ordering question is the only non-trivial bit here. `build_state_estimator` returns `(StateEstimator, ISam2GraphHandle)` together — but the airborne wrapper for c4_pose consumes `c5_isam2_graph_handle` from `pre_constructed` BEFORE the c5_state wrapper runs in the topo order. Two paths to investigate:
1. Construct the handle here in the bootstrap (separately from the StateEstimator) and put it in `pre_constructed["c5_isam2_graph_handle"]`. Then the `_c5_state_wrapper` consumes the SAME handle from `constructed` (which gets seeded from `pre_constructed`) instead of building a new one.
2. Reorder the bootstrap to run c5_state first (before c4_pose) so the StateEstimator + handle are built together — but this conflicts with the existing `_C5_STATE_DEPENDS_ON: ("c1_vio", "c4_pose")` declaration.
Path 1 is preferred (no topology change). Path 2 requires editing `_AIRBORNE_REGISTRATIONS` and is potentially a larger change. Spend ≤1 hour deciding; if Path 1's separation requires a Protocol seam change to ISam2GraphHandle's construction, escalate to the user (do NOT defer to AZ-624).
## Constraints
- MUST NOT modify per-component factory signatures.
- MUST be additive on top of AZ-619..AZ-622.
## Evidence
- Umbrella spec: `_docs/02_tasks/todo/AZ-618_airborne_bootstrap_pre_constructed.md`
- Helper modules: `src/gps_denied_onboard/helpers/{ransac_filter,imu_preintegrator,se3_utils,wgs_converter}.py`
- `c5_state` factory: `src/gps_denied_onboard/runtime_root/state_factory.py`
- ISam2GraphHandle: `src/gps_denied_onboard/components/c5_state/_isam2_handle.py`
_docs/02_tasks/todo/AZ-624_pre_constructed_phase_f_wire_main.md
+1 -1
View File
@@ -4,7 +4,7 @@
**Name**: AZ-618 Phase F: wire build_pre_constructed into runtime_root.main() + AC-1..AC-5 verification
**Description**: Final / umbrella subtask of AZ-618. Wires `build_pre_constructed` into `runtime_root.main()` and lands the FULL AC suite from the AZ-618 umbrella (AC-1..AC-5), including the Jetson tier-2 verification.
**Complexity**: 2 points
**Dependencies**: AZ-619, AZ-620, AZ-621, AZ-622, AZ-623 (all phases must be in `done/` before this lands).
**Dependencies**: AZ-619, AZ-620, AZ-621, AZ-622, AZ-623, AZ-625 (all phases must be in `done/` before this lands; AZ-625 was added 2026-05-19 when the `c5_isam2_graph_handle` ordering work was split out of AZ-623).
**Component**: runtime_root (cross-cutting)
**Tracker**: AZ-624
**Epic**: AZ-602 (parent: AZ-618 umbrella)
_docs/02_tasks/todo/AZ-625_c5_isam2_graph_handle_ordering.md
+79
View File
@@ -0,0 +1,79 @@
# AZ-625 — Phase E.5: airborne_bootstrap c5_isam2_graph_handle ordering
**Task**: AZ-625_c5_isam2_graph_handle_ordering
**Name**: AZ-618 follow-up: c5_isam2_graph_handle ordering — separate handle from estimator construction
**Description**: Sixth subtask of AZ-618 (added 2026-05-19 by autodev batch 94 escalation). Lands the `pre_constructed["c5_isam2_graph_handle"]` seeding that AZ-623 originally listed but escalated out of scope when Path 1 of the AZ-623 spec's two-path investigation required a Protocol seam change forbidden by the AZ-618 umbrella.
**Complexity**: 3 points
**Dependencies**: AZ-619..AZ-623 (all in `done/` before this lands).
**Component**: runtime_root (cross-cutting)
**Tracker**: AZ-625
**Epic**: AZ-602 (parent: AZ-618 umbrella)
## Why split out of AZ-623
`compose_root` walks topo order and seeds `constructed` from `pre_constructed`. `c4_pose` pulls `c5_isam2_graph_handle` from `constructed` at construction time. `_C5_STATE_DEPENDS_ON: ("c1_vio", "c4_pose")` puts c5 AFTER c4 in topo. So at c4_pose's construction time, `c5_isam2_graph_handle` is not in `constructed` unless seeded by `pre_constructed`.
`ISam2GraphHandleImpl.__init__(self, estimator: GtsamIsam2StateEstimator)` ties handle construction to estimator construction. Building the handle separately requires a Protocol seam change — explicitly forbidden by the AZ-618 umbrella's "MUST NOT touch any per-component factory signature" constraint.
`_c5_state_wrapper` currently builds the estimator + handle together via `build_state_estimator`, discards the handle (`estimator, _handle = ...`), and returns the estimator. The handle never reaches `pre_constructed`.
## Decision (2026-05-19, autodev batch 94)
Path 1 (handle-only separation) is blocked. Chosen approach: a wiring change inside `airborne_bootstrap.py` only.
- `airborne_bootstrap.build_pre_constructed` calls `build_state_estimator` once, captures `(estimator, handle)`, and seeds:
- `pre_constructed["c5_isam2_graph_handle"] = handle`
- a private coordination key, e.g. `pre_constructed["_c5_prebuilt_estimator"] = estimator`
- `_c5_state_wrapper` consults `constructed.get("_c5_prebuilt_estimator")` and returns the prebuilt instance when present; otherwise falls back to `build_state_estimator(...)` (preserves test isolation for fixtures that don't go through the bootstrap).
- No changes to `state_factory.build_state_estimator` signature, `ISam2GraphHandleImpl.__init__`, or the C4 / C5 Protocol declarations.
## Outcome
- `build_pre_constructed(config)` adds `c5_isam2_graph_handle` on top of AZ-619..AZ-623, and the c4_pose wrapper sees the same handle the c5_state estimator was built with.
- `_c5_state_wrapper` short-circuits on the look-aside key.
- New unit tests under `tests/unit/runtime_root/test_az625_c5_isam2_graph_handle_ordering.py`.
## Scope
### Included
- `airborne_bootstrap.py`: new internal builder `_build_c5_state_estimator_pair(config, ...)` that calls `build_state_estimator` once and returns `(estimator, handle)`. `build_pre_constructed` invokes it and seeds both keys.
- `airborne_bootstrap.py`: `_c5_state_wrapper` short-circuits on `constructed["_c5_prebuilt_estimator"]`.
- Document `_c5_prebuilt_estimator` as an internal coordination key (NOT in `AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS` because consumers don't query it).
- `C5_STATE_BUILD_FLAGS: Final[Mapping[str, str]]` mirroring `state_factory._STATE_BUILD_FLAGS` so the bootstrap can name the gating flag in `AirborneBootstrapError` (mirrors AZ-622's `C3_MATCHER_BUILD_FLAGS` pattern).
- Unit tests covering AC-625.1..AC-625.3.
### Excluded
- Any change to `state_factory`, `pose_factory`, or `c5_state` internals.
- main() wiring (still AZ-624's job; AZ-624 now depends on this PBI).
- AZ-389 orthorectifier wiring (`camera_calibration` / `flight_id` / `companion_id` flow through `pre_constructed`) — orthogonal; lands as part of AZ-624 or its own follow-up.
## Acceptance Criteria
**AC-625.1**: `build_pre_constructed(config)` adds key `c5_isam2_graph_handle` on top of AZ-619..AZ-623; the value satisfies the C4 `ISam2GraphHandle` Protocol (`get_pose_key`, `add_factor`, `update`, `compute_marginals`, `last_anchor_age_ms`).
**AC-625.2**: When the configured `c5_state` strategy's `BUILD_STATE_*` flag is OFF (or the strategy is unknown), `build_pre_constructed` raises `AirborneBootstrapError` naming the missing flag and the consuming component slug `c5_state`. (Mirrors the AC-3 / AC-622.2 error contract.)
**AC-625.3**: `compose_root(config, pre_constructed=build_pre_constructed(config))` produces a runtime where the handle held by c4_pose IS the same handle returned by the c5_state estimator's `_isam2_handle`. Identity assertion verifies single-instance sharing across the C4 / C5 seam.
**AC-625.4**: Unit tests under `tests/unit/runtime_root/test_az625_c5_isam2_graph_handle_ordering.py` cover AC-625.1..AC-625.3.
## Tier-2 Note
Real iSAM2 graph mutations under load are verified by AZ-624's Jetson AC-5 run.
## Constraints
- MUST NOT modify per-component factory signatures.
- MUST be additive on top of AZ-619..AZ-623.
- MUST NOT touch `state_factory`, `pose_factory`, or `c5_state` internals.
## Evidence
- Umbrella spec: `_docs/02_tasks/todo/AZ-618_airborne_bootstrap_pre_constructed.md`
- Original AZ-623 spec (now narrowed): `_docs/02_tasks/todo/AZ-623_pre_constructed_phase_e_ransac_c5_helpers.md` § "Scope split note"
- ISam2GraphHandle Protocol (consumed by C4): `src/gps_denied_onboard/components/c4_pose/_isam2_handle.py`
- ISam2GraphHandleImpl (built by C5 estimator): `src/gps_denied_onboard/components/c5_state/_isam2_handle.py`
- `state_factory.build_state_estimator`: `src/gps_denied_onboard/runtime_root/state_factory.py`
- AZ-622's `C3_MATCHER_BUILD_FLAGS` pattern (template for `C5_STATE_BUILD_FLAGS`): `src/gps_denied_onboard/runtime_root/airborne_bootstrap.py`