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https://github.com/azaion/gps-denied-onboard.git
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[AZ-335] C1 warm-start hint persistence + F8 reboot recovery wiring
Adds JsonSidecarWarmStartHintStore (atomic JSON + SHA-256 sidecar via AZ-280) inside c1_vio, plus the cross-strategy WarmStartWiredStrategy wrapper + prime_warm_start_from_disk / prime_warm_start_from_fc hooks at runtime_root. AC-7 post-reset covariance inflation and AC-8 "no fake confidence" baseline floor are enforced at the wiring layer so no strategy module needed edits. Adds three c1_vio config fields (warm_start_store_dir, warm_start_save_period_frames, post_reset_covariance_inflation_factor) and registers the new FDR kind vio.warm_start. 34 unit tests cover all 10 ACs + 3 NFRs. Verdict PASS_WITH_WARNINGS — see _docs/03_implementation/reviews/batch_56_review.md for the four non-blocking documentation findings (F1 cold-start log kind shorthand, F2 strategy-frame pose semantics, F3 dev-hardware perf smoke, F4 runtime_root importing c1-internal _facade_spine for shared FDR conventions). Closes AZ-335; depends on AZ-528 (batch 55). Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -273,7 +273,27 @@ class C1VioConfig:
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default 9 per ``vio_strategy_protocol.md`` v1.0.0.
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``warm_start_max_frames`` is the convergence budget after
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:meth:`VioStrategy.reset_to_warm_start`; default 5.
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:meth:`VioStrategy.reset_to_warm_start`; default 5. The same
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integer also drives the AZ-335 post-reset covariance-inflation
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window (the runtime root inflates the strategy's emitted
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covariance for exactly this many frames after every
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``reset_to_warm_start``).
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``warm_start_store_dir`` is the on-disk directory the AZ-335
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warm-start hint store writes ``c1_warm_start.json`` into. Default
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``/var/lib/gps_denied_onboard/warm_start/``. The operator's systemd
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unit MUST point this at a writable mount on the airborne deployment.
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``warm_start_save_period_frames`` throttles the per-frame
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save hook — the wiring saves the hint only every Nth successful
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``VioOutput`` to bound disk I/O at the 3 Hz frame rate. Default 5
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(≈ 0.6 Hz).
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``post_reset_covariance_inflation_factor`` multiplies the
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strategy's emitted ``pose_covariance_6x6`` for the first
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``warm_start_max_frames`` frames after every ``reset_to_warm_start``;
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enforced at the wiring layer to defend AC-5.3's "no fake confidence"
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invariant. Default 2.0; must be > 1.0 (1.0 would defeat AC-8).
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``okvis2`` carries OKVIS2-specific knobs (AZ-332); consulted only
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when ``strategy == "okvis2"``.
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@@ -288,6 +308,9 @@ class C1VioConfig:
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strategy: str = "klt_ransac"
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lost_frame_threshold: int = 9
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warm_start_max_frames: int = 5
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warm_start_store_dir: str = "/var/lib/gps_denied_onboard/warm_start/"
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warm_start_save_period_frames: int = 5
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post_reset_covariance_inflation_factor: float = 2.0
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okvis2: Okvis2Config = field(default_factory=Okvis2Config)
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vins_mono: VinsMonoConfig = field(default_factory=VinsMonoConfig)
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klt_ransac: KltRansacConfig = field(default_factory=KltRansacConfig)
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@@ -305,3 +328,19 @@ class C1VioConfig:
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raise ConfigError(
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f"C1VioConfig.warm_start_max_frames must be >= 1; got {self.warm_start_max_frames}"
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)
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if not self.warm_start_store_dir:
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raise ConfigError(
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"C1VioConfig.warm_start_store_dir must be a non-empty path; "
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f"got {self.warm_start_store_dir!r}"
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)
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if self.warm_start_save_period_frames < 1:
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raise ConfigError(
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"C1VioConfig.warm_start_save_period_frames must be >= 1; "
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f"got {self.warm_start_save_period_frames}"
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)
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if self.post_reset_covariance_inflation_factor <= 1.0:
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raise ConfigError(
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"C1VioConfig.post_reset_covariance_inflation_factor must be > 1.0 "
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"(1.0 would defeat AC-5.3's 'no fake confidence' floor); "
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f"got {self.post_reset_covariance_inflation_factor}"
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)
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@@ -0,0 +1,439 @@
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"""Warm-start hint persistence (AZ-335 / E-C1).
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C1-internal storage layer for the warm-start + F8 reboot recovery
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wiring. Defines:
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- :class:`WarmStartHintStore` (PEP 544 Protocol) — the typed store
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contract. Default impl is :class:`JsonSidecarWarmStartHintStore`;
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a future operator-managed store (e.g. Redis-backed) can plug in via
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the same Protocol without touching the wiring.
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- :class:`LoadedWarmStartHint` (frozen dataclass) — what
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:meth:`WarmStartHintStore.load` returns: the pose hint plus the
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AC-5.3 baseline covariance norm captured at the same save.
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- :class:`JsonSidecarWarmStartHintStore` — atomic-JSON-write +
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SHA-256 sidecar persistence via :class:`Sha256Sidecar` (AZ-280).
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- :class:`WarmStartFcSource` (PEP 544 Protocol) — the consumer-side
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structural cut over the C8 ``FcAdapter`` family that
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:func:`prime_warm_start_from_fc` consumes. Defined here (NOT
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imported from c8) per AZ-507's cross-component rule: a c1 module
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must not import from another component's module; consumer-side
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Protocol cuts live with the consumer.
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The on-disk schema (JSON) is owned by this module; ``version`` is
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always ``1`` for this cycle. The schema layout is documented inline
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in :func:`_serialise_envelope` / :func:`_deserialise_envelope` so
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the round-trip contract stays close to the wire format.
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The store is L2 component-internal (NOT in
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``c1_vio/__init__.py``'s public surface); the runtime root pulls
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the concrete class via this module path at composition time, the
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same lazy-import pattern used by the AZ-331 vio_factory for
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strategy modules.
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"""
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from __future__ import annotations
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import json
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from dataclasses import dataclass
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from pathlib import Path
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from typing import Any, Protocol, runtime_checkable
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import numpy as np
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from gps_denied_onboard._types.nav import ImuBias, WarmStartPose
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from gps_denied_onboard.helpers.se3_utils import (
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Se3InvalidMatrixError,
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matrix_to_se3,
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se3_to_matrix,
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)
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from gps_denied_onboard.helpers.sha256_sidecar import (
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SIDECAR_SUFFIX,
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Sha256Sidecar,
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Sha256SidecarError,
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)
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from gps_denied_onboard.logging import get_logger
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__all__ = [
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"HINT_FILENAME",
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"HINT_SCHEMA_VERSION",
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"JsonSidecarWarmStartHintStore",
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"LoadedWarmStartHint",
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"WarmStartFcSource",
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"WarmStartHintStore",
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]
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HINT_FILENAME: str = "c1_warm_start.json"
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HINT_SCHEMA_VERSION: int = 1
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_LOGGER_NAME: str = "components.c1_vio.warm_start_store"
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_LOGGER_COMPONENT: str = "c1_vio"
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@dataclass(frozen=True)
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class LoadedWarmStartHint:
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"""What :meth:`WarmStartHintStore.load` returns on success.
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``pose`` is the persisted :class:`WarmStartPose` deep-equal to the
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last saved hint. ``pre_reboot_covariance_norm`` is the Frobenius
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norm of the strategy's last steady-state ``pose_covariance_6x6``
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captured by the wiring at save time — the F8 reload path uses
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this as the AC-5.3 / AC-8 "no fake confidence" floor.
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``calibration_id`` is the camera-calibration identifier the hint
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was produced under; the wiring rejects the hint if the current
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calibration differs (Risk 2 mitigation).
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"""
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pose: WarmStartPose
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pre_reboot_covariance_norm: float
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calibration_id: str
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@runtime_checkable
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class WarmStartHintStore(Protocol):
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"""Persistence contract for a single warm-start hint per c1_vio process.
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Implementations MUST satisfy:
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- :meth:`save` is atomic (no half-written file is ever loadable).
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- :meth:`load` returns ``None`` on cold start (no prior hint),
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on sidecar mismatch (corruption), and on calibration mismatch
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(Risk 2). All three cases are observable via INFO/WARN logs.
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- :meth:`clear` removes both the payload file and its sidecar
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together (no half-cleared state).
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"""
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def save(
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self,
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hint: WarmStartPose,
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*,
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pre_reboot_covariance_norm: float,
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) -> None: ...
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def load(self) -> LoadedWarmStartHint | None: ...
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def clear(self) -> None: ...
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@runtime_checkable
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class WarmStartFcSource(Protocol):
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"""Consumer-side cut over the C8 ``FcAdapter`` family (AZ-507).
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The F2 takeoff prime path calls :meth:`fetch_warm_start_pose` to
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pull the FC EKF's last valid GPS + IMU-extrapolated pose. The
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return is ``None`` when the FC has no valid GPS yet (the prime
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path then degrades to cold-start with a WARN log; AC-NFR-no-crash).
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The runtime-root composition wires a thin adapter from the
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concrete C8 :class:`FcAdapter` to this Protocol; tests inject a
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fake matching this surface directly. NEVER import a c8 concrete
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adapter from inside c1_vio.
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"""
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def fetch_warm_start_pose(self) -> WarmStartPose | None: ...
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def calibration_id(self) -> str: ...
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def _serialise_envelope(
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hint: WarmStartPose,
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*,
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pre_reboot_covariance_norm: float,
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calibration_id: str,
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) -> bytes:
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"""Pack ``hint`` into the on-disk JSON envelope.
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Schema v1 layout (top-level dict):
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- ``version`` (int) — always :data:`HINT_SCHEMA_VERSION`.
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- ``calibration_id`` (str) — see Risk 2 mitigation.
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- ``pre_reboot_covariance_norm`` (float) — AC-5.3 / AC-8 baseline.
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- ``pose`` (dict) — the :class:`WarmStartPose` flattened to
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JSON-native types: ``body_T_world_4x4`` (4-list of 4-list of
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float), ``velocity_b`` (3-list of float), ``bias`` (dict with
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``accel_bias`` + ``gyro_bias`` 3-lists of float),
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``captured_at_ns`` (int).
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"""
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matrix = se3_to_matrix(hint.body_T_world)
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envelope: dict[str, Any] = {
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"version": HINT_SCHEMA_VERSION,
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"calibration_id": calibration_id,
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"pre_reboot_covariance_norm": float(pre_reboot_covariance_norm),
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"pose": {
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"body_T_world_4x4": matrix.tolist(),
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"velocity_b": [float(v) for v in hint.velocity_b],
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"bias": {
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"accel_bias": [float(v) for v in hint.bias.accel_bias],
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"gyro_bias": [float(v) for v in hint.bias.gyro_bias],
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},
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"captured_at_ns": int(hint.captured_at_ns),
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},
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}
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return json.dumps(envelope, sort_keys=True).encode("utf-8")
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def _deserialise_envelope(
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payload: bytes,
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) -> tuple[WarmStartPose, float, str]:
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"""Inverse of :func:`_serialise_envelope`.
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Raises :class:`ValueError` (with context) on any structural
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deviation from schema v1 — the calling :meth:`load` routes those
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failures through the same WARN-and-return-None path as a sidecar
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mismatch (the file is not loadable; cold-start is the right
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fallback).
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"""
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try:
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decoded = json.loads(payload.decode("utf-8"))
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except (UnicodeDecodeError, json.JSONDecodeError) as exc:
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raise ValueError(f"warm-start hint payload is not valid UTF-8 JSON: {exc}") from exc
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if not isinstance(decoded, dict):
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raise ValueError(
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f"warm-start hint payload must decode to a dict; got {type(decoded).__name__}"
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)
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version = decoded.get("version")
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if version != HINT_SCHEMA_VERSION:
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raise ValueError(
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f"warm-start hint version mismatch: expected {HINT_SCHEMA_VERSION}, got {version!r}"
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)
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calibration_id = decoded.get("calibration_id")
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if not isinstance(calibration_id, str) or not calibration_id:
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raise ValueError(
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f"warm-start hint envelope missing non-empty calibration_id; got {calibration_id!r}"
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)
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pre_reboot_covariance_norm = decoded.get("pre_reboot_covariance_norm")
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if not isinstance(pre_reboot_covariance_norm, (int, float)) or isinstance(
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pre_reboot_covariance_norm, bool
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):
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raise ValueError(
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"warm-start hint envelope.pre_reboot_covariance_norm must be a float; "
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f"got {pre_reboot_covariance_norm!r}"
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)
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pose_dict = decoded.get("pose")
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if not isinstance(pose_dict, dict):
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raise ValueError(
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f"warm-start hint envelope.pose must be a dict; got {type(pose_dict).__name__}"
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)
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matrix_list = pose_dict.get("body_T_world_4x4")
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if not isinstance(matrix_list, list) or len(matrix_list) != 4:
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raise ValueError("warm-start hint pose.body_T_world_4x4 must be a 4-list of rows")
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try:
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matrix = np.asarray(matrix_list, dtype=np.float64)
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except (TypeError, ValueError) as exc:
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raise ValueError(f"warm-start hint pose.body_T_world_4x4 not numeric: {exc}") from exc
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try:
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body_T_world = matrix_to_se3(matrix)
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except Se3InvalidMatrixError as exc:
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raise ValueError(f"warm-start hint pose.body_T_world_4x4 not a valid SE(3): {exc}") from exc
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velocity_list = pose_dict.get("velocity_b")
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if not isinstance(velocity_list, list) or len(velocity_list) != 3:
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raise ValueError("warm-start hint pose.velocity_b must be a 3-list of floats")
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velocity_b = (
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float(velocity_list[0]),
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float(velocity_list[1]),
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float(velocity_list[2]),
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)
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bias_dict = pose_dict.get("bias")
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if not isinstance(bias_dict, dict):
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raise ValueError("warm-start hint pose.bias must be a dict")
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accel_list = bias_dict.get("accel_bias")
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gyro_list = bias_dict.get("gyro_bias")
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if (
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not isinstance(accel_list, list)
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or len(accel_list) != 3
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or not isinstance(gyro_list, list)
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or len(gyro_list) != 3
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):
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raise ValueError(
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"warm-start hint pose.bias must contain 3-list accel_bias and 3-list gyro_bias"
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)
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bias = ImuBias(
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accel_bias=(float(accel_list[0]), float(accel_list[1]), float(accel_list[2])),
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gyro_bias=(float(gyro_list[0]), float(gyro_list[1]), float(gyro_list[2])),
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)
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captured_at_ns = pose_dict.get("captured_at_ns")
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if not isinstance(captured_at_ns, int) or isinstance(captured_at_ns, bool):
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raise ValueError(
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f"warm-start hint pose.captured_at_ns must be an int; got {captured_at_ns!r}"
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)
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pose = WarmStartPose(
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body_T_world=body_T_world,
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velocity_b=velocity_b,
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bias=bias,
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captured_at_ns=captured_at_ns,
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)
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return pose, float(pre_reboot_covariance_norm), calibration_id
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class JsonSidecarWarmStartHintStore:
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"""Default :class:`WarmStartHintStore` impl backed by JSON + SHA-256 sidecar.
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``store_dir`` is the directory the hint file lives in; created on
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first ``save`` if missing. ``calibration_id`` is bound at
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construction time — the composition root reads
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:class:`CameraCalibration.id` once and passes it here. A loaded
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hint whose ``calibration_id`` differs from the constructor value
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is rejected (returns ``None`` + WARN log) per Risk 2.
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The atomic-write and sidecar-verify guarantees come from
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:class:`Sha256Sidecar` (AZ-280); this class never opens the
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payload file directly except through that helper. The class is
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process-local (no cross-process locking) — by AZ-331 invariant
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the c1_vio strategy is single-instanced per process and the
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composition root owns this store.
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"""
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def __init__(self, store_dir: Path, *, calibration_id: str) -> None:
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if not calibration_id:
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raise ValueError(
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"JsonSidecarWarmStartHintStore.calibration_id must be a non-empty string"
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)
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self._store_dir = Path(store_dir)
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self._calibration_id = calibration_id
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self._payload_path = self._store_dir / HINT_FILENAME
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self._sidecar_path = Path(str(self._payload_path) + SIDECAR_SUFFIX)
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self._log = get_logger(_LOGGER_NAME)
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@property
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def payload_path(self) -> Path:
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"""The on-disk JSON file path (exposed for tests + forensics)."""
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return self._payload_path
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@property
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def sidecar_path(self) -> Path:
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"""The sidecar ``<payload>.sha256`` path (exposed for tests + forensics)."""
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return self._sidecar_path
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def save(
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self,
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hint: WarmStartPose,
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*,
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pre_reboot_covariance_norm: float,
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) -> None:
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"""Write the envelope atomically + sidecar.
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Failures (write errors, parent-dir creation errors) propagate
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as :class:`Sha256SidecarError` / :class:`OSError` so the
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caller can route them through the wiring's no-crash policy
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(the wiring catches these and emits an ERROR log per
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AC-NFR-no-crash; the process keeps running and falls through
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to cold-start on the next prime).
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"""
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self._store_dir.mkdir(parents=True, exist_ok=True)
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payload = _serialise_envelope(
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hint,
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pre_reboot_covariance_norm=pre_reboot_covariance_norm,
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calibration_id=self._calibration_id,
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)
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Sha256Sidecar.write_atomic_and_sidecar(self._payload_path, payload)
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def load(self) -> LoadedWarmStartHint | None:
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"""Return the persisted hint, or ``None`` on any non-loadable state.
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Branches that emit ``None``:
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- Payload file does not exist (cold start; no INFO log here —
|
||||
the prime path emits ``c1.warm_start.cold_start``).
|
||||
- Sidecar does not exist or is malformed (corruption — WARN
|
||||
log ``c1.warm_start.corrupted`` with the offending path).
|
||||
The file is NOT silently deleted (operator may want to
|
||||
forensically inspect — AC-2).
|
||||
- SHA-256 mismatch (corruption — same WARN log).
|
||||
- JSON envelope structurally invalid (corruption — same WARN
|
||||
log; the on-disk file is left intact).
|
||||
- ``calibration_id`` mismatch (Risk 2 — WARN log
|
||||
``c1.warm_start.calibration_mismatch``; not the same kind
|
||||
as ``corrupted`` because the file IS valid, just stale).
|
||||
"""
|
||||
if not self._payload_path.exists():
|
||||
return None
|
||||
try:
|
||||
verified = Sha256Sidecar.verify(self._payload_path)
|
||||
except Sha256SidecarError as exc:
|
||||
self._emit_corrupted_warning(reason=str(exc))
|
||||
return None
|
||||
if not verified:
|
||||
self._emit_corrupted_warning(reason="sha256_mismatch")
|
||||
return None
|
||||
try:
|
||||
payload = self._payload_path.read_bytes()
|
||||
except OSError as exc:
|
||||
self._emit_corrupted_warning(reason=f"oserror: {exc}")
|
||||
return None
|
||||
try:
|
||||
pose, pre_reboot_norm, on_disk_calibration_id = _deserialise_envelope(payload)
|
||||
except ValueError as exc:
|
||||
self._emit_corrupted_warning(reason=str(exc))
|
||||
return None
|
||||
if on_disk_calibration_id != self._calibration_id:
|
||||
self._log.warning(
|
||||
"warm-start hint calibration mismatch",
|
||||
extra={
|
||||
"component": _LOGGER_COMPONENT,
|
||||
"kind": "c1.warm_start.calibration_mismatch",
|
||||
"kv": {
|
||||
"path": str(self._payload_path),
|
||||
"saved_calibration_id": on_disk_calibration_id,
|
||||
"current_calibration_id": self._calibration_id,
|
||||
},
|
||||
},
|
||||
)
|
||||
return None
|
||||
return LoadedWarmStartHint(
|
||||
pose=pose,
|
||||
pre_reboot_covariance_norm=pre_reboot_norm,
|
||||
calibration_id=on_disk_calibration_id,
|
||||
)
|
||||
|
||||
def _emit_corrupted_warning(self, *, reason: str) -> None:
|
||||
"""Single emission point for the AC-2 ``c1.warm_start.corrupted`` WARN."""
|
||||
self._log.warning(
|
||||
"warm-start hint corrupted",
|
||||
extra={
|
||||
"component": _LOGGER_COMPONENT,
|
||||
"kind": "c1.warm_start.corrupted",
|
||||
"kv": {
|
||||
"path": str(self._payload_path),
|
||||
"reason": reason,
|
||||
},
|
||||
},
|
||||
)
|
||||
|
||||
def clear(self) -> None:
|
||||
"""Remove both the payload file and its sidecar.
|
||||
|
||||
Idempotent — missing files are not an error. Emits ONE INFO
|
||||
log on every invocation, regardless of whether a file existed,
|
||||
so the operator log shows the explicit clear action.
|
||||
"""
|
||||
for path in (self._payload_path, self._sidecar_path):
|
||||
try:
|
||||
path.unlink(missing_ok=True)
|
||||
except OSError as exc:
|
||||
self._log.error(
|
||||
"warm-start hint clear failed",
|
||||
extra={
|
||||
"component": _LOGGER_COMPONENT,
|
||||
"kind": "c1.warm_start.clear_failed",
|
||||
"kv": {
|
||||
"path": str(path),
|
||||
"reason": str(exc),
|
||||
},
|
||||
},
|
||||
)
|
||||
raise
|
||||
self._log.info(
|
||||
"warm-start hint store cleared",
|
||||
extra={
|
||||
"component": _LOGGER_COMPONENT,
|
||||
"kind": "c1.warm_start.cleared",
|
||||
"kv": {
|
||||
"store_dir": str(self._store_dir),
|
||||
},
|
||||
},
|
||||
)
|
||||
|
||||
Reference in New Issue
Block a user