[AZ-401] [AZ-400] Replay — compose_root replay-mode branch + transport seam

Wires the airborne composition root for replay-as-configuration (ADR-011): - compose_root(config) branches on config.mode in {"live", "replay"}. Live behaviour is unchanged; replay builds ReplayInputAdapter, attaches JsonlReplaySink, and injects NoopMavlinkTransport. - New private module runtime_root/_replay_branch.py holds the replay-only strategy graph + build-flag gate + calibration loader. - Config gains Config.mode (Literal["live","replay"]) plus Config.replay sub-block with nested ReplayAutoSyncConfig that mirrors the AZ-405 AutoSyncConfig DTO; YAML loader + ENV map updated. Absorbs the AZ-400 transport-seam retrofit that AZ-401 strictly required but AZ-400 had not delivered: - New MavlinkTransport Protocol (write/bytes_written/close). - NoopMavlinkTransport (replay; build-flag gated, idempotent close, thread-safe byte counter). - SerialMavlinkTransport (live, no-op restructure of existing pymavlink byte path; encoder retrofit to actually USE it is the AZ-558 follow-up). AZ-401 AC-9 (NoopMavlinkTransport.bytes_written > 0 after C8 encoders run) is BLOCKED on AZ-558 — the encoder routing retrofit is out of the AZ-401 task envelope (FORBIDDEN files: pymavlink_ardupilot_adapter, msp2_inav_adapter). AZ-558 spec, batch_61_review.md, and the test's @pytest.mark.skip rationale all carry the deferral reason. Tests: 22 compose_root replay-branch tests + 17 transport tests. Full regression: 2063 passed, 86 environment-skips, 1 documented skip (AC-9 / AZ-558), 1 pre-existing flaky perf test deselected. Co-authored-by: Cursor <cursoragent@cursor.com>
2026-06-21 08:41:12 +00:00 · 2026-05-14 11:55:33 +03:00
parent 8149083cac
commit 17a0d074af
19 changed files with 2156 additions and 45 deletions
@@ -1,8 +1,8 @@
 # Dependencies Table

-**Date**: 2026-05-14 (refreshed after cumulative review batches 52-54: AZ-528 hygiene PBI added for c1_vio strategy facade orchestration-spine 3-way duplication (Medium); earlier same-day after Batch 53: AZ-333 VINS-Mono landed — first c1_vio strategy after the AZ-332 OKVIS2 production-default; consolidation hygiene for the strategy-facade duplication deferred to a post-AZ-334 PBI; earlier same-day after Batch 51: AZ-527 hygiene PBI added from cumulative review batches 49-51 F1; 2026-05-13: AZ-526 hygiene PBI added from cumulative review batches 46-48 F1+F3; same-day refresh after Batch 44 SRP refactor: AZ-317 superseded; AZ-329 + AZ-330 specs rewritten; AZ-523 + AZ-524 audit-trail tickets added; E-C12 epic renamed `Operator Pre-flight Tooling` → `Operator Pre-flight Orchestrator`; earlier same-day refresh: AZ-507 + AZ-508 hygiene PBIs from cumulative review batches 31-33; 2026-05-11: AZ-489 + AZ-490 ADR-010 operator-origin path)
-**Total Tasks**: 149 (108 product + 41 blackbox-test) — AZ-317 retained in the table marked SUPERSEDED for audit; AZ-523 (C11 gate removal) + AZ-524 (C12 rename) added as 2 closed audit-trail tasks; AZ-526 = 2pt clock-helper hygiene; AZ-527 = 2pt c2 engine-dim helper hygiene; AZ-528 = 3pt c1_vio facade-spine hygiene
-**Total Complexity Points**: 494 (361 product + 133 blackbox-test) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt
+**Date**: 2026-05-14 (refreshed after Batch 61: AZ-558 follow-up added — routes C8 outbound encoder bytes through `MavlinkTransport` seam; closes AZ-401 AC-9 deferred during batch 61 due to encoder-side routing not being in the AZ-401 task envelope; earlier same-day after cumulative review batches 52-54: AZ-528 hygiene PBI added for c1_vio strategy facade orchestration-spine 3-way duplication (Medium); earlier same-day after Batch 53: AZ-333 VINS-Mono landed — first c1_vio strategy after the AZ-332 OKVIS2 production-default; consolidation hygiene for the strategy-facade duplication deferred to a post-AZ-334 PBI; earlier same-day after Batch 51: AZ-527 hygiene PBI added from cumulative review batches 49-51 F1; 2026-05-13: AZ-526 hygiene PBI added from cumulative review batches 46-48 F1+F3; same-day refresh after Batch 44 SRP refactor: AZ-317 superseded; AZ-329 + AZ-330 specs rewritten; AZ-523 + AZ-524 audit-trail tickets added; E-C12 epic renamed `Operator Pre-flight Tooling` → `Operator Pre-flight Orchestrator`; earlier same-day refresh: AZ-507 + AZ-508 hygiene PBIs from cumulative review batches 31-33; 2026-05-11: AZ-489 + AZ-490 ADR-010 operator-origin path)
+**Total Tasks**: 150 (109 product + 41 blackbox-test) — AZ-317 retained in the table marked SUPERSEDED for audit; AZ-523 (C11 gate removal) + AZ-524 (C12 rename) added as 2 closed audit-trail tasks; AZ-526 = 2pt clock-helper hygiene; AZ-527 = 2pt c2 engine-dim helper hygiene; AZ-528 = 3pt c1_vio facade-spine hygiene; AZ-558 = 3pt MavlinkTransport routing follow-up
+**Total Complexity Points**: 497 (364 product + 133 blackbox-test) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt, AZ-558 = 3pt

 Dependencies columns list only the tracker-ID portion (descriptive tail
 text in each task spec is omitted here for table-readability). The
@@ -113,6 +113,7 @@ are all declared and documented below under **Cycle Check**.
 | AZ-403 | (CANCELLED per ADR-011 — replay is a configuration of the airborne binary; no fourth image)  | —          | —                                                                                                     | AZ-265 |
 | AZ-404 | E2E replay fixture test — Derkachi 1–2 min clip + mode-agnosticism + operator workflow       | 5          | AZ-402, AZ-401, AZ-405, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273                                        | AZ-265 |
 | AZ-405 | replay_input/ coordinator + auto-sync of video ↔ tlog via IMU take-off detection             | 5          | AZ-399, AZ-398, AZ-263, AZ-269, AZ-266, AZ-272, AZ-279                                                | AZ-265 |
+| AZ-558 | Route C8 outbound encoder bytes through MavlinkTransport seam (closes AZ-401 AC-9)           | 3          | AZ-401, AZ-273, AZ-294, AZ-399                                                                        | AZ-265 |
 | AZ-406 | Blackbox Test Infrastructure Bootstrap (Tier-1 + Tier-2 harness scaffold)                    | 5          | AZ-263                                                                                                | AZ-262 |
 | AZ-407 | Static fixture builders — tile-cache, age-injector, cold-boot, MAVLink passkey, CVE JPEG     | 3          | AZ-406                                                                                                | AZ-262 |
 | AZ-408 | Runtime synthetic-injection fixture builders — outlier, blackout-spoof, multi-segment        | 3          | AZ-406, AZ-407                                                                                        | AZ-262 |