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Update demo replay validation and testing documentation
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- Modified the autodev state to reflect the current testing phase and details of the new `jetson-e2e` tests.
- Enhanced the "How to Test" documentation to provide clearer instructions on the demo replay validation process, including video and tlog alignment steps.
- Updated architectural documentation to include the new demo replay operator flow and its dependencies.
- Documented the removal of deprecated auto-sync features and clarified the operator-facing UI for replay validation.
- Added new entries in the dependencies table for upcoming tasks related to the demo replay flow.

These changes improve clarity and usability for operators and developers working with the demo replay system.
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Oleksandr Bezdieniezhnykh
2026-06-20 11:24:43 +03:00
parent 12d0008763
commit 1f634c2604
175 changed files with 20701 additions and 41 deletions
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_docs/02_document/architecture.md
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@@ -274,8 +274,8 @@ source repo
Two consequences for the architecture:
1. **C11 read contract adapted to the v1.0.0 inventory shape (AZ-777 Phase 1)** — `POST /api/satellite/tiles/inventory` + `GET /tiles/{z}/{x}/{y}` replace the historical `GET /api/satellite/tiles?bbox=…&zoom=…` shape. The bbox-driven `download_tiles_for_area` entry point and its DTOs are unchanged at the call-site level; the contract adaptation is internal to `HttpTileDownloader`. Auth is JWT Bearer (`SATELLITE_PROVIDER_API_KEY`) over TLS; `SATELLITE_PROVIDER_TLS_INSECURE=1` is a documented dev-only knob for self-signed certs.
2. **Route-driven seeding (Epic AZ-835 — C11's third interface, `SatelliteProviderRouteClient`)** — the operator can now submit a tlog-derived `RouteSpec` (waypoints + region size; produced by `replay_input.tlog_route.extract_route_from_tlog` — AZ-836; canonical DTO at `_types/route.py` per AZ-845) via `POST /api/satellite/route` and have `satellite-provider` materialise just the corridor tiles, polling `GET /api/satellite/route/{id}` until `mapsReady=true`. This is ~100× more tile-efficient than the bbox path on long, narrow flights. Pre-emptive validation mirrors the AZ-809 `CreateRouteRequestValidator` bounds. The route-driven path is exercised today by the cycle-3 e2e fixture `operator_pre_flight_setup` (AZ-839) and the orchestrator test `test_az835_e2e_real_flight.py` (AZ-840); the C12 production CLI binding is a future-cycle integration.
1. **C11 read contract adapted to the v1.0.0 inventory shape (AZ-777 Phase 1)** — `POST /api/satellite/tiles/inventory` + `GET /tiles/{z}/{x}/{y}` replace the historical `GET /api/satellite/tiles?bbox=…&zoom=…` shape. The bbox-driven `download_tiles_for_area` entry point and its DTOs are unchanged at the call-site level; the contract adaptation is internal to `HttpTileDownloader`. Auth is JWT Bearer (`SATELLITE_PROVIDER_API_KEY`) over TLS; `SATELLITE_PROVIDER_TLS_INSECURE=1` is a documented dev-only knob for self-signed certs. **Proposed successor (ADR-013 / AZ-976)**: gRPC `satellite.v1.RouteTileDelivery.DeliverRouteTiles` server-streaming with client tile catalog — see `tile_provision_grpc.md`; supersedes the never-shipped inventory REST endpoint.
2. **Route-driven seeding (Epic AZ-835 / AZ-969)** — the operator submits a tlog-derived `RouteSpec` (produced by `replay_input.tlog_route.extract_route_from_tlog` — AZ-836) via C12 `seed-cache-from-tlog` (AZ-974) or the F11 `replay_api` demo job (AZ-973). E2E fixture `operator_pre_flight_setup` wraps the same production `operator_replay.cache_seed` module.
**Imagery source license attribution (cycle 3)**: the Jetson `satellite-provider` instance downloads from the **Google Maps satellite layer** (`lyrs=s`), governed by Google Maps Platform Terms of Service. Dev/research use only; production deployment requires either a Google Maps Platform licensing review or migration to a true CC-BY satellite source on the parent-suite side (parent-suite ticket TBD). Operator-side seed scripts (`tests/fixtures/derkachi_c6/seed_region.py`, `seed_route.py`) propagate the "Imagery © Google" attribution.
@@ -292,11 +292,17 @@ Cycle 4 rebuilt the replay-mode operator-input surface around a single canonical
| **AZ-894** (CSV adapter) | New primary path | `csv_replay_input.CsvReplayInputAdapter` consumes a paired `(video, CSV)` where the CSV's `Time` column is the canonical clock for every IMU/GPS sample. Gated `BUILD_CSV_REPLAY_ADAPTER=ON` in airborne and research binaries; OFF in operator-orchestrator. |
| **AZ-895** (auto-sync deprecation) | Removed legacy | `replay_input.auto_sync` (AZ-405) reduced to a no-op stub that raises on first call; `tlog_video_adapter.py` reduced to a deprecated stub whose `open()` raises immediately. The legacy `--time-offset-ms` / `--skip-auto-sync` / `--auto-trim` CLI flags accepted-with-warning, ignored. Hard removal tracked in AZ-908 (cycle 5+ backlog). |
| **AZ-896** (CSV format spec) | Contract | `_docs/02_document/contracts/replay/csv_replay_format.md` documents the CSV row schema, the row-0-alignment-with-video-frame-0 invariant, and an example `data_imu.csv` shipped under the same path. |
| **AZ-897** (operator UI) | Cycle-5+ follow-up | First operator-facing UI surface — a React + Tailwind single-page form that uploads a paired `(video, CSV)`, links to AZ-896's format docs + example CSV, and tails the verdict from the headless `gps-denied-replay` invocation. Not on cycle-4 critical path; flagged here so the CSV format stays UI-friendly. |
| **AZ-897** (operator UI) | Cycle 5 — Epic AZ-969 | Dual-timeline `(video, tlog)` alignment UI in `../ui`; uploads raw tlog, calls `replay_api` preview/align/demo endpoints; displays map + verdict. Spec: `../ui/_docs/02_tasks/todo/AZ-897_operator_replay_sync_ui.md`. |
The architectural rationale is captured in **Invariant 14** of the replay protocol (`_docs/02_document/contracts/replay/replay_protocol.md`): the system runs as a single edge process on a single device; there must be exactly one wall/monotonic clock authoritative for timestamps that cross component boundaries. In live mode that clock is the C8 inbound `FcAdapter`'s FC-boot-relative timestamp; in replay mode (after cycle 4) it is the CSV row's `Time` column. The previous design's two-clock surface (Jetson monotonic at C1 VIO emission, FC-boot at C8 IMU window arrival) produced the AZ-848 regression and is retired with the auto-sync deprecation.
The legacy `TlogReplayFcAdapter` is retained for two audit-only paths — offline FDR analysis from `tools/` and a one-shot `gps-denied-tlog-to-csv` migration utility that exports legacy tlog inputs to the canonical CSV. Neither path runs from the airborne composition root after cycle 4.
The legacy `TlogReplayFcAdapter` is retained for audit paths — offline FDR analysis and `gps-denied-tlog-to-csv` export (AZ-972). Runtime replay uses the CSV adapter after operator alignment (F11 / Epic AZ-969).
### Demo replay operator flow (cycle 5 — Epic AZ-969)
F11 in `system-flows.md` is the **primary product demo**, not an e2e-test concern. Raw operator inputs are `(video, tlog, calibration)`; alignment produces an AZ-896 CSV on a single canonical clock; route-driven cache seeding uses `extract_route_from_tlog` via C12 / `replay_api` production modules (AZ-974, AZ-973). Backend children: AZ-970 (preview API), AZ-971 (alignment refine), AZ-972 (CSV export), AZ-973 (orchestration), AZ-974 (C12 seed CLI), AZ-975 (docs). UI: AZ-897 in `../ui`.
The cycle-4 `(video, CSV)` upload bypass (AZ-959) remains for operators who already have an aligned CSV; it is not the default demo entry.
### `satellite-provider` upload contract (per D-PROJ-2 carryforward)
@@ -781,4 +787,32 @@ When C5 ships a second strategy — `eskf` (ESKF baseline, AZ-588) — the subst
- `_docs/02_document/contracts/replay/replay_protocol.md` gains a new "Open-loop ESKF composition profile" sub-section in **Composition root extension** plus a new **Invariant 13** ("C4↔C5 pairing matrix is enforced at compose time") that the AZ-776 unit tests own.
- `_docs/02_document/components/06_c4_pose/description.md` gains an "Enabled flag" sub-section that points at this ADR; the rest of the component contract is unchanged.
- The unit-test surface at `tests/unit/runtime_root/test_az776_open_loop_eskf_composition.py` owns the seven invariants AZ-776 introduces: `C4PoseConfig.enabled` default-true, AC-1 (open-loop ESKF composes without C4), AC-2 (default GTSAM profile still includes C4), AC-3a + AC-3b (the two forbidden pairings raise `CompositionError`), and the two `pre_constructed` behaviours (`c5_isam2_graph_handle` omitted when C4 disabled, present when C4 enabled). The full suite passes in ~4 s.
- The composition root's contract surface in `runtime_root/__init__.py` gains one public helper (`CompositionError` was already public; the new `skip_slugs` parameter to `_compose` is module-private). No public CLI flag is added — operators set `c4_pose.enabled = false` in YAML.
- The composition root's contract surface in `runtime_root/__init__.py` gains one public helper (`CompositionError` was already public; the new `skip_slugs` parameter to `_compose` is module-private). No public CLI flag is added — operators set `c4_pose.enabled = false` in YAML.
### ADR-013 — gRPC server-streaming tile provision for operator pre-flight (AZ-976)
**Context**: Operator-side cache build (C11/C12 ↔ `satellite-provider`) is off the hot airborne path but dominates time-to-ready when a corridor has thousands of tiles. The current REST shape (`POST /route` + poll + planned `POST /inventory` + N× `GET /tiles/{z}/{x}/{y}`) multiplies round-trips and cannot overlap "tiles already on SP disk" with "tiles still downloading from Google Maps". The inventory POST was specified in AZ-777 but never shipped in satellite-provider; Jetson smoke tests 404 on it today. Both codebases are owned by the same team (.NET satellite-provider, Python gps-denied operator tooling), so a typed streaming contract is feasible without a browser client.
**Decision**:
1. **We will add `satellite.v1.RouteTileDelivery.DeliverRouteTiles`** — unary request (`RouteSpec` + `client_tiles`), server-streaming `RouteTileEvent` (manifest → batches → progress → complete | error) — as the primary operator-side pre-flight transport (Epic AZ-976). Proto: `tile_provision.proto`; human contract: `tile_provision_grpc.md`.
2. **The request carries `RouteSpec.route_id` (idempotent UUID) plus `ClientTileRecord[]`.** satellite-provider omits tiles when the client catalog already has equal-or-better resolution and equal-or-newer `captured_at` (lower m/px = better).
3. **First stream event is `RouteManifest`** (`total_candidates`, `skipped_by_client`, `to_deliver`); then `TileBatch` messages with inline JPEGs. Server sends on-disk hits before externally fetched tiles (wire-agnostic ordering; `TilePayload.route_priority` hints along-route order).
4. **ADR-004 boundary is preserved**: only C11/C12 on the operator workstation import gRPC stubs.
**Alternatives considered**:
| Alternative | Rejected because |
|-------------|------------------|
| REST `POST /inventory` + parallel GET | Never implemented in satellite-provider; still N+1 HTTP; no overlap of cached vs in-flight fetch |
| SSE over HTTPS | Weaker typing; both sides are service binaries, not browsers — gRPC + protobuf is the better fit |
| ZeroMQ between products | Poor fit across WAN/NAT; better kept **inside** satellite-provider's fetch workers |
| In-flight streaming to UAV | Violates RESTRICT-SAT-1 / ADR-004; wrong reliability model for the aircraft |
**Consequences**:
- Epic AZ-976 decomposes: AZ-977 (SP gRPC server), AZ-978 (C11 client + C12 wiring), AZ-979 (Jetson benchmark + flip default).
- REST `route_client` + `HttpTileDownloader` remain as fallback until AZ-979 benchmark promotes gRPC.
- Finished C6 is still staged onto the Jetson via USB/rsync before flight — this ADR optimizes operator wait time, not in-air link dependency.
**Evidence**: `_docs/02_document/contracts/c11_tilemanager/tile_provision.proto`, `tile_provision_grpc.md`, `_docs/02_tasks/todo/AZ-976_grpc_tile_provision_epic.md`.
_docs/02_document/contracts/c11_tilemanager/tile_provision.proto
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syntax = "proto3";
package satellite.v1;
import "google/protobuf/timestamp.proto";
option csharp_namespace = "Satellite.V1";
service RouteTileDelivery {
rpc DeliverRouteTiles(DeliverRouteTilesRequest) returns (stream RouteTileEvent);
}
message DeliverRouteTilesRequest {
RouteSpec route = 1;
repeated ClientTileRecord client_tiles = 2;
}
message RouteSpec {
string route_id = 1;
repeated Waypoint waypoints = 2;
double region_size_meters = 3;
int32 zoom = 4;
repeated GeofencePolygon geofences = 5;
bool include_geofence_tiles = 6;
}
message Waypoint {
double lat = 1;
double lon = 2;
}
message GeofencePolygon {
repeated Waypoint vertices = 1;
}
message ClientTileRecord {
int32 z = 1;
int32 x = 2;
int32 y = 3;
double resolution_m_per_px = 4;
google.protobuf.Timestamp captured_at = 5;
optional string source = 6;
bytes content_sha256 = 7;
}
message RouteTileEvent {
oneof payload {
RouteManifest manifest = 1;
TileBatch batch = 2;
ProgressUpdate progress = 3;
DeliveryComplete complete = 4;
DeliveryError error = 5;
}
}
message RouteManifest {
uint32 total_candidates = 1;
uint32 skipped_by_client = 2;
uint32 to_deliver = 3;
}
message TileBatch {
uint32 batch_seq = 1;
repeated TilePayload tiles = 2;
}
message TilePayload {
int32 z = 1;
int32 x = 2;
int32 y = 3;
double resolution_m_per_px = 4;
google.protobuf.Timestamp captured_at = 5;
string source = 6;
bytes jpeg = 7;
bytes content_sha256 = 8;
uint32 route_priority = 9;
}
message ProgressUpdate {
uint32 delivered = 1;
uint32 total = 2;
uint32 downloading = 3;
}
message DeliveryComplete {
uint32 delivered = 1;
uint32 skipped_client = 2;
uint32 skipped_server_filter = 3;
}
message DeliveryError {
string code = 1;
string message = 2;
bool retryable = 3;
}
_docs/02_document/contracts/c11_tilemanager/tile_provision_grpc.md
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# Contract: RouteTileDelivery (gRPC)
**Component**: c11_tilemanager (consumer), satellite-provider (producer)
**Epic**: AZ-976
**ADR**: ADR-013 (architecture.md)
**Proto**: `tile_provision.proto` — `package satellite.v1`
**Version**: 0.3.0
**Status**: proposed
**Last Updated**: 2026-06-19
## Purpose
Operator-side **pre-flight cache provisioning**. Client sends route + onboard tile catalog once; server streams `RouteTileEvent` messages until `DeliveryComplete` or `DeliveryError`.
satellite-provider does **not** receive `flight_id` — that is a C6 bookkeeping concern on the gps-denied side only (`route_id` is the wire correlation id).
C11/C12 on the **operator workstation** only. ADR-004: airborne image must not import stubs or open this channel.
## RPC
```protobuf
service RouteTileDelivery {
rpc DeliverRouteTiles(DeliverRouteTilesRequest) returns (stream RouteTileEvent);
}
```
| Concern | Rule |
|---------|------|
| Auth | gRPC metadata `authorization: Bearer <JWT>` |
| TLS | Required in production; `SATELLITE_PROVIDER_TLS_INSECURE=1` dev knob |
| Idempotency | `RouteSpec.route_id` (UUID string) |
| Resume | Client persists last acked `batch_seq` per `route_id` locally (not on wire) |
## Request
### `DeliverRouteTilesRequest`
| Field | Description |
|-------|-------------|
| `route` | Corridor geometry + single zoom |
| `client_tiles` | Onboard inventory snapshot (route intersection only) |
### `RouteSpec`
| Field | Maps from gps-denied |
|-------|----------------------|
| `route_id` | Client-generated UUID per provision job |
| `waypoints` | `replay_input.tlog_route.RouteSpec.waypoints` |
| `region_size_meters` | `RouteSpec.suggested_region_size_meters` |
| `zoom` | Single slippy zoom level (confirmed sufficient) |
| `geofences` | Optional inclusion polygons |
| `include_geofence_tiles` | Union geofence tiles with corridor grid |
### `ClientTileRecord`
Canonical key: **`(z, x, y)`**. `source` is informational only — **not** used in skip logic.
| Field | C6 mapping |
|-------|------------|
| `resolution_m_per_px` | RESTRICT-SAT-4 (lower = better) |
| `captured_at` | `TileMetadata.capture_timestamp` |
| `content_sha256` | `TileMetadata.content_sha256_hex` (raw 32 bytes) |
## Server skip rule (client catalog)
For each server candidate tile, **omit from stream** when `client_tiles` has matching `(z,x,y)` and **any** of:
1. `client.content_sha256` is non-empty and **equals** server payload hash → skip (byte-identical)
2. `client.resolution_m_per_px <= server.resolution_m_per_px` **and** `client.captured_at >= server.captured_at` → skip (metadata-sufficient)
`source` is **not** compared.
`RouteManifest.skipped_by_client` counts tiles removed by this rule.
## Sector — not on this wire
**Sector** (`active_conflict` vs `stable_rear`) controls **how stale a tile may be before C6 rejects it on write** (AC-NEW-6 freshness). It is an operator decision about the geographic area, not something satellite-provider needs to deliver tiles.
| Layer | Who applies sector |
|-------|-------------------|
| satellite-provider | Does not need sector — streams tiles by route geometry |
| C11 client write | Reads sector from **C11/C12 config** (same as today) when calling C6 freshness gate |
No `SectorClass` field on the gRPC request.
## Response stream: `RouteTileEvent`
Typical sequence:
1. **`RouteManifest`** — `total_candidates`, `skipped_by_client`, `to_deliver`
2. **`TileBatch`** — monotonic `batch_seq`; on-disk hits first, then freshly fetched
3. **`ProgressUpdate`** — optional
4. **`DeliveryComplete`** or **`DeliveryError`**
### `DeliveryComplete` counters
| Field | Meaning |
|-------|---------|
| `delivered` | Tiles actually sent in `TileBatch` streams |
| `skipped_client` | Same as manifest `skipped_by_client` (echo for client verify) |
| `skipped_server_filter` | Tiles SP required but **did not send** after client dedup — see below |
#### `skipped_server_filter` — what counts
Tiles that entered the post-client-dedup work queue but never appeared in a batch:
| Reason | Example |
|--------|---------|
| **Fetch failed** | External imagery provider 404/timeout after retries |
| **Below SP min resolution** | SP refuses to store/serve below its configured floor |
| **Geometry clip** | Tile dropped after server-side corridor/geofence validation |
| **Operational cap** | Job hit max-tiles / rate limit (if SP enforces) |
Tiles skipped by the **client catalog rule** are **not** included here (they are `skipped_client`).
If SP has no server-side filters in v1, `skipped_server_filter` may be **0**; the field is reserved for observability.
### `TilePayload`
| Field | Notes |
|-------|-------|
| `content_sha256` | 32-byte SHA-256 of `jpeg`; matches C6 DB invariant |
| `route_priority` | Lower = earlier along route |
## Client write path (gps-denied)
`RouteTileDeliveryClient` (C11):
- Assigns C6 `flight_id` from operator context locally (not from SP)
- Applies RESTRICT-SAT-4, **sector-based freshness**, AZ-308 budget, download journal
- Resumes via persisted `route_id` + `batch_seq`
## Migration
REST `route_client` + `HttpTileDownloader` remain fallback until AZ-979 benchmark.
## Change log
| Version | Date | Change |
|---------|------|--------|
| 0.3.0 | 2026-06-19 | `ClientTileRecord.content_sha256`; sequential field nums on `TilePayload`; sector/flight_id off wire; skip rule + `skipped_server_filter` defined |
| 0.2.0 | 2026-06-19 | `satellite.v1.RouteTileDelivery` + `RouteTileEvent` oneof |
| 0.1.0 | 2026-06-19 | Initial draft (superseded) |
_docs/02_document/contracts/replay/replay_protocol.md
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@@ -289,7 +289,9 @@ The two **invalid** cells (`true` + `eskf` and `false` + `gtsam_isam2`) raise `C
**Sub-invariant 14.c (auto-sync deprecation — AZ-895)**: the `replay_input.auto_sync` module (AZ-405) is reduced to a deprecated no-op stub that raises `ReplayInputAdapterError("auto-sync removed; supply --imu CSV instead")` from every public entry point. The CLI flags `--time-offset-ms`, `--skip-auto-sync`, and `--auto-trim` are accepted with a deprecation warning and ignored. The justification: with a single canonical clock at the CSV row level (14.a), there is no second clock to align against — the operator authors the CSV with the correct row-0 alignment, and the fixture verifies row 0's `Time == 0`. Hard removal of the deprecated surface is tracked in AZ-908; this cycle ships only the stub + warnings to preserve source-compat for any downstream caller built against AZ-405's pre-deprecation shape.
**Sub-invariant 14.d (operator-facing UI — AZ-897, future cycle)**: the cycle-4 deliverable is the headless `gps-denied-replay --video X --imu Y` shape. An operator-facing web UI (single-page React + Tailwind form that uploads a paired `(video, CSV)` and tails the verdict) is tracked separately in AZ-897 and is NOT on the critical path of the CSV redesign; this sub-invariant exists only to record that the format spec (AZ-896) and the CSV adapter (AZ-894) MUST stay UI-friendly (CSV example, format docs link, clear error messages on row-0-misalignment) so AZ-897 lands without contract drift.
**Sub-invariant 14.d (operator-facing UI — AZ-897, superseded by Invariant 15)**: retained for historical cycle-4 CSV-only upload spec. Default demo entry is now F11 / AZ-969.
15. **Operator demo replay path (cycle 5 — AZ-969 / F11)**: the default product demo accepts raw `(video, tlog, calibration)` from the suite UI. Alignment is operator-visible (dual timeline bars + explicit refine); the backend exports an AZ-896 CSV whose `Time` column is the single canonical replay clock (Invariant 14.a). Steps: preview timelines (AZ-970) → coarse align + refine (AZ-897, AZ-971) → export CSV (AZ-972) → seed corridor cache from tlog GPS (AZ-974) → run `gps-denied-replay` (AZ-973) → map + verdict. The `(video, pre-authored CSV)` bypass (AZ-959) is optional, not default. E2E tests MUST use the same orchestration modules as production — no parallel test-only graph. AZ-908 (hard removal of alignment stubs) is deferred until AZ-971 ships.
## Producer / Consumer Split
_docs/02_document/system-flows.md
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@@ -19,6 +19,7 @@
| F8 | Companion reboot recovery | Companion process restart while FC remains armed | C8 (FC IMU pose ingest), C5, C10 (warm-cache verify), C13 | Medium |
| F9 | GCS telemetry stream | Per-frame estimate available + GCS link healthy | C5, C8, [[QGroundControl]] | Medium |
| F10 | Post-landing tile upload | Operator triggers C12 `PostLandingUploadOrchestrator`; orchestrator confirms `flight_footer.clean_shutdown == True` and invokes C11 `TileUploader` | C12 `PostLandingUploadOrchestrator` (operator-side; reads FDR footer), C11 `TileUploader` (operator-side), C6 (read), [[`satellite-provider`]] (D-PROJ-2 endpoint, planned) | High |
| F11 | Demo replay validation (operator) | Operator uploads `(video, tlog, calibration)` in suite UI; aligns timelines; runs full GPS-denied replay verdict | [[`suite/ui`]] (AZ-897), `replay_api` (AZ-973), `replay_input` (AZ-970–972), C12 `seed-cache-from-tlog` (AZ-974), C11 route seed, C10, airborne replay (`config.mode=replay`) | High |
## Flow Dependencies
@@ -34,6 +35,7 @@
| F8 | F1 + F2 (warm cache survives reboot via content-hash verify) | F3 (resumes once warm), F5 (degraded mode if recovery fails) |
| F9 | F3 | n/a (read-only outbound) |
| F10 | F4 (locally-saved tiles), C13 `flight_footer` written on clean shutdown, parent-suite D-PROJ-2 endpoint availability | F1 of the next flight (uploaded tiles enter the basemap once promoted to `trusted`) |
| F11 | F1 route-driven variant (AZ-974) OR warm cache; E-DEMO-REPLAY (AZ-265) | F1 (corridor cache), replay JSONL + map artifacts consumed by suite UI |
**Cross-cutting**: F13 FDR-write is not a flow per se — every flow above has an FDR write side-effect. AC-NEW-3 requires every payload class (estimate, IMU, MAVLink, mid-flight tile, system health, failed-tile thumbnail) to be present; rollover is logged, never silent.
@@ -53,7 +55,7 @@ This flow is offline and not time-critical. **Only Phase 0 reaches `flights` RES
#### Phase 1 variant — route-driven seeding (cycle 3 — Epic AZ-835 / AZ-836 + AZ-838 + AZ-839)
A tlog-driven alternative to bbox download lets the operator (or the post-flight replay harness) pre-commit the cache to the precise corridor the drone actually flew. The path is exercised today by the e2e fixture `tests/e2e/replay/conftest.py::operator_pre_flight_setup` (AZ-839) and the orchestrator test `tests/e2e/replay/test_az835_e2e_real_flight.py` (AZ-840); the C12 production CLI binding for this variant is deferred to a future cycle.
A tlog-driven alternative to bbox download lets the operator pre-commit the cache to the precise corridor the drone actually flew. **Production bindings** (Epic AZ-969): C12 `seed-cache-from-tlog` (AZ-974) and the `replay_api` demo job (AZ-973) call the same `operator_replay.cache_seed` module. The e2e fixture `operator_pre_flight_setup` (AZ-839) is a thin wrapper over that production path — not a parallel implementation.
Phase-1 sub-steps in the route-driven variant (replaces the bbox download for that invocation):
@@ -1083,6 +1085,96 @@ flowchart TD
---
## Flow F11: Demo replay validation (operator)
### Description
Post-flight **product demo** and **validation** flow. The operator uploads a nav-camera video and ArduPilot `.tlog` through the suite UI (AZ-897), visually aligns the two recordings on dual timeline bars, and runs the same airborne GPS-denied pipeline used in live flight — against a corridor cache seeded from the tlog GPS trace. Output: per-tick estimated positions (JSONL), accuracy map, and PASS/FAIL verdict against tlog ground truth (AZ-696 AC-3).
This is **not** a test-harness shortcut. E2E tests (AZ-840) call the same `replay_api` orchestration (AZ-973) and `operator_replay.cache_seed` (AZ-974) as the UI.
**Phases** (sequenced by `replay_api` demo job or manual CLI equivalents):
1. **Preview** (AZ-970) — parse tlog IMU2 activity + video metadata for UI timelines.
2. **Align** (AZ-897 + AZ-971) — operator coarse offset; backend refine via optical-flow + IMU cross-correlation.
3. **Export** (AZ-972) — write AZ-896 canonical CSV with `Time=0` at aligned video frame 0 (single canonical clock for replay).
4. **Seed cache** (AZ-974) — `extract_route_from_tlog` → `SatelliteProviderRouteClient.seed_route` → tile download → FAISS build (F1 route-driven variant).
5. **Replay** — `gps-denied-replay --video … --imu aligned.csv` with `config.mode=replay`; C1–C5 identical to live.
6. **Verdict** — horizontal-error distribution + map artifact returned to UI.
Advanced bypass: operator may upload a pre-aligned `(video, CSV)` per AZ-959 without steps 1–3.
### Preconditions
- Operator workstation runs `replay_api` (docker-compose or native) with network to `satellite-provider`.
- Camera calibration JSON for the flight's nav camera.
- Tlog contains `SCALED_IMU2` (or `RAW_IMU`) and `GLOBAL_POSITION_INT` / `GPS_RAW_INT`.
- Video covers the active flight segment after alignment.
### Sequence Diagram
```mermaid
sequenceDiagram
participant Operator
participant UI as [[suite/ui]] AZ-897
participant API as replay_api AZ-973
participant Align as replay_input alignment AZ-971
participant Export as tlog_to_csv AZ-972
participant Seed as operator_replay cache_seed AZ-974
participant Sat as [[satellite-provider]]
participant Replay as gps-denied-replay
participant Pipeline as C1..C5 replay mode
Operator->>UI: upload video + tlog + calibration
UI->>API: POST /replay/preview
API-->>UI: video metadata + IMU2 activity timeline
Operator->>UI: drag video bar / refine
UI->>API: POST /replay/align/refine
API->>Align: refine_video_offset
Align-->>UI: refined_offset_ms + confidence
Operator->>UI: Run demo
UI->>API: POST /replay/demo
API->>Export: export_aligned_csv
API->>Seed: extract_route + seed_route + FAISS
Seed->>Sat: POST /api/satellite/route
Sat-->>Seed: mapsReady
API->>Replay: subprocess --video --imu
Replay->>Pipeline: per-frame loop
Pipeline-->>API: results.jsonl
API-->>UI: map URL + verdict report
```
### Data flow
| Step | From | To | Data | Format |
|------|------|----|------|--------|
| 1 | UI | replay_api | video + tlog multipart | HTTP |
| 2 | replay_api | UI | timeline preview JSON | JSON |
| 3 | UI | replay_api | `video_offset_ms` | JSON |
| 4 | replay_api | disk | aligned `data_imu.csv` | AZ-896 CSV |
| 5 | replay_api | satellite-provider | `RouteSpec` waypoints | JSON POST |
| 6 | replay_api | airborne binary | video + CSV + cache config | subprocess |
| 7 | replay_api | UI | JSONL path, map URL, verdict md | JSON job result |
### Error scenarios
| Error | Detection | Recovery |
|-------|-----------|----------|
| Missing IMU in tlog | preview 422 | Operator message; cannot align |
| Refine hard-fail (< 95 % frame match) | align/refine response | Operator adjusts bar or aborts |
| Route seed terminal failure | `RouteTerminalFailureError` | Job failed; operator retries |
| ESKF divergence (no cache) | replay exit ≠ 0 | Ensure step 4 completed; check AZ-963 |
### Performance expectations
| Metric | Target | Notes |
|--------|--------|-------|
| Preview latency | p95 < 5 s | tlog parse + video probe |
| Full demo (Derkachi) | ≤ 15 min cold | matches AZ-835 AC-7 |
| Warm cache reuse | ≤ 30 s seed skip | named volume / cache_root reuse |
---
## Cross-cutting: FDR write side-effect
Every flow above produces FDR records (per AC-NEW-3). The cross-cutting rules are:
_docs/02_tasks/_dependencies_table.md
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| AZ-951 | OKVIS2 v2 upstream patch: expose 6×6 pose covariance accessor (+ ADR for pin deviation) | 3 | AZ-332; AZ-592 | AZ-254 |
| AZ-952 | OKVIS2 v2 upstream patch: expose tracking-stats accessor (counts + parallax + MRE) | 3 | AZ-332; AZ-592; AZ-951 (SOFT) | AZ-254 |
| AZ-959 | replay_api: extend POST /replay to accept (video, csv) multipart for AZ-897 UI | 3 | AZ-701; AZ-894; AZ-896 | (none) |
| AZ-969 | Demo replay operator flow (Epic) — F11 tlog+video align → cache seed → verdict | 21 (epic) | AZ-894; AZ-836; AZ-838; AZ-701; AZ-959 | AZ-897 |
| AZ-970 | Tlog/video timeline preview API (AZ-969 C1) | 3 | AZ-697; AZ-836 | AZ-897; AZ-971 |
| AZ-971 | Alignment library restore + refine (AZ-969 C2) | 5 | AZ-405 (historical) | AZ-972; AZ-973 |
| AZ-972 | Aligned CSV export from tlog + offset (AZ-969 C3) | 3 | AZ-896; AZ-697; AZ-971; AZ-836 | AZ-973 |
| AZ-973 | replay_api demo orchestration endpoints (AZ-969 C4) | 5 | AZ-970; AZ-971; AZ-972; AZ-974 (soft); AZ-960; AZ-701 | AZ-897 |
| AZ-974 | C12 seed-cache-from-tlog production CLI (AZ-969 C5) | 3 | AZ-836; AZ-838; AZ-839; AZ-326 | AZ-973 (soft) |
| AZ-975 | System design docs F11 + Invariant 15 (AZ-969 C6) | 2 | AZ-969 | (none) |
| AZ-976 | gRPC streaming tile provision epic (ADR-013) | Epic ~13 | AZ-838; AZ-316; ADR-004 | AZ-977; AZ-978; AZ-979 |
| AZ-977 | satellite-provider TileProvision gRPC service (AZ-976 C1) | 5 | AZ-976 | AZ-978 |
| AZ-978 | C11 GrpcTileProvisionClient + C12 wiring (AZ-976 C2) | 5 | AZ-977; AZ-836; AZ-838; AZ-974 (soft) | AZ-979 |
| AZ-979 | gRPC tile provision Jetson e2e + benchmark (AZ-976 C3) | 3 | AZ-977; AZ-978 | (none) |
## Notes
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# Replay: hard removal of deprecated auto-sync surface (AZ-895 follow-up)
> **BLOCKED by Epic AZ-969 (2026-06-19).** AZ-971 restores alignment kernels as operator-driven refine behind `replay_input/alignment.py`. Do not delete alignment logic until AZ-969 ships. AZ-908 scope shrinks to: remove deprecated CLI flags and `auto_sync.py` stub re-exports only — **not** the new alignment module.
**Task**: AZ-908_replay_auto_sync_hard_removal
**Name**: Cycle-5+ cleanup that physically removes the auto-sync surface AZ-895 deprecated
**Description**: Follow-up to AZ-895 (cycle 4). AZ-895 made the auto_sync surface a no-op and deprecated the CLI flags (`--time-offset-ms`, `--skip-auto-sync`, `--auto-trim`) with one-cycle warnings, but left the call sites, config fields, and interface DTOs intact for backward compat. AZ-908 completes the removal in cycle 5+ after a one-cycle deprecation window has passed.
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# Operator replay sync UI (relocated)
**Task**: AZ-897_operator_replay_sync_ui
**Tracker**: AZ-897
**Repo**: `../ui` (Azaion suite front-end)
Authoritative spec: `ui/_docs/02_tasks/todo/AZ-897_operator_replay_sync_ui.md` (sibling repo at `../ui` relative to monorepo root).
Parent epic (backend): [AZ-969_demo_replay_operator_flow_epic.md](./AZ-969_demo_replay_operator_flow_epic.md)
Implement in the UI workspace. Backend blockers: AZ-970, AZ-973.
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# Demo replay operator flow (Epic)
**Task**: AZ-969_demo_replay_operator_flow_epic
**Name**: Demo replay operator flow — tlog + video alignment → cache seed → airborne replay verdict
**Description**: Promote the demo replay path from an e2e-test harness concern to a first-class operator workflow (F11). Given raw `(video, tlog, calibration)`, the system lets the operator align timelines in the suite UI, exports a canonical aligned CSV, seeds the satellite corridor cache from the tlog, runs the airborne replay pipeline, and returns a map + accuracy verdict. Supersedes the cycle-4 `(video, CSV)` upload-only shortcut as the **default** demo entry; CSV upload remains an advanced bypass.
**Complexity**: Epic — ~21 SP across 6 backend children + AZ-897 UI (5 SP in `../ui`)
**Dependencies**: AZ-894 (CSV adapter — done), AZ-836 (route extractor — done), AZ-838 (route client — done), AZ-701 (replay_api — done), AZ-959 (CSV API path — done)
**Component**: cross-cutting — `replay_input`, `replay_api`, `c12_operator_orchestrator`, `c11_tile_manager`
**Tracker**: AZ-969 (https://denyspopov.atlassian.net/browse/AZ-969)
**Originating directive**: user (2026-06-19) — demo flow must accept tlog + video with manual alignment UI; not test-only.
## Goal
An operator with no Python install completes the full GPS-denied validation demo from the suite UI: upload → align → run → read verdict. The same code path powers Tier-2 e2e (`test_az835_e2e_real_flight`) without a separate test-only fixture graph.
## Pipeline (7 steps — production, not test-only)
| # | Step | Owner | New? |
|---|------|-------|------|
| 1 | Preview timelines (video metadata + tlog IMU2 activity) | AZ-970 `replay_api` | **New** |
| 2 | Operator coarse-align + backend refine offset | AZ-897 UI + AZ-971 | **New** |
| 3 | Export aligned CSV (`Time` col = video frame 0) | AZ-972 | **New** |
| 4 | Extract route + seed corridor tiles + FAISS | AZ-974 (promotes AZ-836/838 from e2e fixture) | **Wire production** |
| 5 | Run `gps-denied-replay` on `(video, aligned_csv)` | existing CLI + AZ-973 orchestration | existing |
| 6 | Render map + verdict report | AZ-960 path | done |
| 7 | Display in UI | AZ-897 | **New** |
## Decomposition
| # | Ticket | Est | Repo | Depends |
|---|--------|-----|------|---------|
| C1 | AZ-970 — tlog/video preview API | 3 | onboard | — |
| C2 | AZ-971 — alignment library restore + refine | 5 | onboard | AZ-970 (soft) |
| C3 | AZ-972 — aligned CSV export | 3 | onboard | AZ-971 |
| C4 | AZ-973 — replay_api demo orchestration endpoints | 5 | onboard | AZ-972, AZ-974 (soft) |
| C5 | AZ-974 — C12 `seed-cache-from-tlog` production CLI | 3 | onboard | AZ-836, AZ-838 |
| C6 | AZ-975 — system design docs (F11, protocol, architecture) | 2 | onboard | C1–C5 specs |
| UI | AZ-897 — dual-timeline sync UI | 5 | `../ui` | AZ-970, AZ-973 |
**Total ~21 SP backend + 5 SP UI.**
## Architectural decisions
1. **Single canonical clock preserved** — alignment happens **before** replay; exported CSV's `Time` column is authoritative (Invariant 14.a unchanged). Tlog runtime parsing is not reintroduced into `compose_root`.
2. **Alignment is operator-visible** — auto-sync (AZ-405) is restored as a **refinement kernel** behind explicit operator consent, not a silent default.
3. **Route seeding leaves test fixtures** — `extract_route_from_tlog` becomes a C12/replay_api production step, not only `operator_pre_flight_setup`.
4. **AZ-908 deferred** — hard removal of alignment stubs blocked until AZ-971 lands; stub module renamed, not deleted.
## Acceptance criteria (Epic-level)
- **AC-1**: F11 documented in `system-flows.md` with sequence diagram; `architecture.md` lists demo flow alongside F1–F10.
- **AC-2**: `POST /replay/demo` runs steps 3–6 without manual CLI on docker-compose dev stack.
- **AC-3**: AZ-897 UI completes Derkachi demo end-to-end against local `replay_api`.
- **AC-4**: `tests/e2e/replay/test_az835_e2e_real_flight.py` refactored to call production orchestration API/helpers — no parallel test-only graph.
- **AC-5**: Advanced `(video, csv)` upload still works (AZ-959 regression green).
## Out of scope
- Replacing live FC adapter with tlog at runtime (F3 stays live MAVLink).
- OKVIS2 / AZ-943 chain.
- Removing CSV bypass path (AZ-908 remains backlog after this epic).
## Coordination
- **AZ-897** spec: `../ui/_docs/02_tasks/todo/AZ-897_operator_replay_sync_ui.md`
- **AZ-908** backlog: amend — do not execute until AZ-969 ships
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# Tlog/video timeline preview API
**Task**: AZ-970_tlog_timeline_preview_api
**Name**: `replay_api` preview endpoint — video metadata + tlog IMU2 activity timeline for AZ-897 UI
**Description**: First backend building block of Epic AZ-969. Exposes `POST /replay/preview` accepting `(video, tlog)` multipart and returning JSON the dual-bar UI needs: video duration/fps/frame count, tlog duration, active-flight segment bounds, and per-bin IMU2 activity energy for heatmap rendering. Pure read-only — no alignment, no replay.
**Complexity**: 3 SP
**Dependencies**: AZ-697 (`load_tlog_ground_truth` — done), AZ-836 (`_detect_active_segment` semantics — reuse via shared trim helper or import)
**Blocks**: AZ-897 (UI), AZ-971 (soft — refine can ship without preview in isolation but UI cannot)
**Component**: `replay_api` + new `replay_input/tlog_timeline.py`
**Tracker**: AZ-970
**Parent Epic**: AZ-969
## Public surface
```python
# replay_input/tlog_timeline.py
@dataclass(frozen=True, slots=True)
class Imu2ActivityBin:
t_ms: int # bin start, FC-boot-relative ms
energy: float # 0..1 normalized IMU2 magnitude
@dataclass(frozen=True, slots=True)
class TlogTimelinePreview:
duration_ms: int
active_segment: tuple[int, int] # (start_idx, end_idx) into GPS rows
active_start_ms: int
active_end_ms: int
imu2_activity: tuple[Imu2ActivityBin, ...]
has_scaled_imu2: bool
@dataclass(frozen=True, slots=True)
class VideoTimelinePreview:
duration_ms: int
frame_count: int
fps: float
def build_tlog_timeline_preview(tlog: Path, *, bin_width_ms: int = 100) -> TlogTimelinePreview: ...
def build_video_timeline_preview(video: Path) -> VideoTimelinePreview: ...
```
## HTTP
`POST /replay/preview` — multipart `video` + `tlog` (both required).
Response 200:
```json
{
"video": { "duration_ms": 490000, "frame_count": 14700, "fps": 30.0 },
"tlog": {
"duration_ms": 520000,
"active_segment": [120, 4980],
"active_start_ms": 12000,
"active_end_ms": 498000,
"imu2_activity": [{ "t_ms": 0, "energy": 0.02 }, ...],
"has_scaled_imu2": true
}
}
```
Errors: 400 missing file; 422 tlog missing SCALED_IMU2/RAW_IMU; 422 unreadable video.
## Implementation notes
- IMU2 energy: RMS of `(xacc,yacc,zacc)` from SCALED_IMU2 messages, binned, min-max normalized over full tlog.
- Reuse active-segment thresholds from `extract_route_from_tlog` defaults for consistency.
- Video probe via OpenCV `cv2.VideoCapture` — lazy-import gated like existing replay paths.
- Optional: persist upload to temp job dir (same storage as AZ-701) and return `preview_id` for subsequent refine/demo calls.
## Acceptance criteria
- **AC-1**: Derkachi tlog returns ≥ 1 activity peak in active segment; pre-takeoff bins < 0.15 normalized energy.
- **AC-2**: Derkachi video returns fps within 0.5 of ffprobe ground truth.
- **AC-3**: Unit tests for binning + normalization without disk video (synthetic IMU samples).
- **AC-4**: Integration test in `test_az701_replay_api.py` for happy path + missing IMU types.
## Out of scope
- Thumbnail strip generation (UI may request later; optional `GET /replay/preview/{id}/frames` follow-up).
- Alignment refine (AZ-971).
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# Alignment library restore + refine offset
**Task**: AZ-971_alignment_library_restore_refine
**Name**: Restore `replay_input` alignment kernels (AZ-405) as operator-driven refine behind explicit offset
**Description**: Second building block of Epic AZ-969. AZ-895 replaced `auto_sync.py` with raising stubs. Restore the pure compute kernels from pre-AZ-895 history (`_compute_tlog_takeoff_from_samples`, `_compute_video_onset_from_samples`, `validate_offset_or_fail`, `find_aligned_window` from AZ-698) into a new module `replay_input/alignment.py`. Public API: `refine_video_offset(tlog, video, manual_offset_ms) -> AlignmentResult` — takes the operator's coarse bar offset and returns refined offset + confidence + frame-window match %. No silent auto-run at upload.
**Complexity**: 5 SP
**Dependencies**: AZ-405 (historical implementation — restore from git), AZ-698 (`find_aligned_window` — optional cross-correlation pass)
**Blocks**: AZ-972, AZ-973
**Component**: `replay_input/alignment.py`
**Tracker**: AZ-971
**Parent Epic**: AZ-969
## Public surface
```python
@dataclass(frozen=True, slots=True)
class AlignmentResult:
manual_offset_ms: int
refined_offset_ms: int
confidence: float # 0..1
frame_window_match_pct: float # AC-8 metric
hard_fail: bool
def refine_video_offset(
tlog: Path,
video: Path,
manual_offset_ms: int,
*,
target_fc_dialect: str = "ardupilot_plane",
match_threshold_pct: float = 95.0,
) -> AlignmentResult: ...
```
Semantics: `refined_offset_ms` = best offset after cross-correlating IMU energy (from manual anchor ± 2 s window) with video optical-flow onset. If `frame_window_match_pct < match_threshold_pct`, set `hard_fail=True` but still return best offset (UI decides whether to proceed).
## Scope
1. New `replay_input/alignment.py` with restored kernels (not re-exported from deprecated `auto_sync.py`).
2. `auto_sync.py` stubs updated to delegate to `alignment` with deprecation warning OR left as-is until AZ-908 post-AZ-969.
3. Unit tests ported from AZ-405 / AZ-698 test matrix (synthetic fixtures).
4. `POST /replay/align/refine` handler stub in AZ-973 may call this module — implement library here first.
## Acceptance criteria
- **AC-1**: Derkachi fixture with known ground-truth offset: `refine_video_offset` within ± 200 ms of truth when manual offset within ± 2 s.
- **AC-2**: Deliberately wrong manual offset (± 30 s) → `hard_fail=True`, `frame_window_match_pct < 50`.
- **AC-3**: Deterministic: same inputs → same `refined_offset_ms` within 1 ms.
- **AC-4**: Missing SCALED_IMU2 → `ReplayInputAdapterError` at entry, not deep in OpenCV.
## Out of scope
- Automatic alignment without manual seed (operator must drag bar first).
- Re-enabling `TlogReplayFcAdapter` in `compose_root`.
- AZ-908 hard removal.
## Notes
- Restore source from commit before AZ-895 stub landing; do not resurrect `ReplayInputAdapter.open()` tlog path.
- Keep OpenCV lazy-import discipline from batch 60.
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# Aligned CSV export from tlog + video offset
**Task**: AZ-972_aligned_csv_export
**Name**: Export AZ-896 canonical CSV from tlog trimmed and aligned to video frame 0
**Description**: Third building block of Epic AZ-969. Given `(tlog, video_offset_ms, optional active_segment)`, stream-parse the tlog and write a CSV matching `csv_replay_format.md`: `Time` column starts at 0.0 s at the video frame that aligns to the chosen tlog instant; only rows inside the active flight segment are exported; IMU + GLOBAL_POSITION_INT columns populated at 10 Hz (resample if needed).
**Complexity**: 3 SP
**Dependencies**: AZ-896 (format spec — done), AZ-697 (`load_tlog_ground_truth` / IMU parse), AZ-971 (refined offset input), AZ-836 (active segment detection — reuse)
**Blocks**: AZ-973
**Component**: `replay_input/tlog_to_csv.py` + CLI `gps-denied-tlog-to-csv`
**Tracker**: AZ-972
**Parent Epic**: AZ-969
## Public surface
```python
def export_aligned_csv(
tlog: Path,
output_csv: Path,
*,
video_offset_ms: int,
active_segment: tuple[int, int] | None = None,
min_takeoff_speed_m_s: float = 2.0,
min_takeoff_altitude_agl_m: float = 5.0,
) -> Path: ...
```
CLI: `gps-denied-tlog-to-csv --tlog PATH --output PATH --video-offset-ms N [--active-segment START,END]`
## Alignment math
Let `tlog_anchor_ms` be the FC-boot-relative instant matching video `t=0` after applying `video_offset_ms` (positive = video starts before tlog anchor). For each exported row at tlog time `t_fc_ms`:
`Time = (t_fc_ms - tlog_anchor_ms) / 1000.0`
Only rows with `Time >= 0` and within active segment are emitted. First row MUST have `Time == 0` within one IMU sample period (Invariant 14.a / AZ-896).
## Acceptance criteria
- **AC-1**: Round-trip: export Derkachi with known offset → `load_csv_ground_truth` → 10 Hz monotonic `Time`.
- **AC-2**: `gps-denied-replay --video derkachi.mp4 --imu exported.csv` starts without `ReplayInputAdapterError`.
- **AC-3**: Row count matches active segment duration × 10 Hz ± 1 row.
- **AC-4**: Unit test: schema header exact match to `example_data_imu.csv`.
## Out of scope
- PX4 / non-ArduPilot dialects.
- Magnetometer columns (optional in AZ-896).
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# replay_api demo orchestration endpoints
**Task**: AZ-973_replay_api_demo_orchestration
**Name**: `replay_api` align/refine/export/demo endpoints — production F11 orchestrator
**Description**: Fourth building block of Epic AZ-969. Extends `replay_api` with the operator demo job lifecycle: refine offset, export aligned CSV, run full pipeline (export → route seed → subprocess replay → map render → verdict). Replaces the ad-hoc wiring in `tests/e2e/replay/conftest.py` and `_operator_pre_flight.py` as the canonical orchestration surface for demo runs.
**Complexity**: 5 SP
**Dependencies**: AZ-970, AZ-971, AZ-972, AZ-974 (soft — demo can use pre-seeded cache env override), AZ-960 (map — done), AZ-701 (job storage — done)
**Blocks**: AZ-897 (UI)
**Component**: `replay_api`
**Tracker**: AZ-973
**Parent Epic**: AZ-969
## Endpoints
| Method | Path | Purpose |
|--------|------|---------|
| POST | `/replay/preview` | AZ-970 (may land in same or prior batch) |
| POST | `/replay/align/refine` | Body/json: `{ job_id, video_offset_ms }` → `AlignmentResult` |
| POST | `/replay/align/export` | Returns aligned CSV bytes or `{ csv_path }` in job dir |
| POST | `/replay/demo` | multipart: `video`, `tlog`, `calibration`, `video_offset_ms` → starts async job |
| GET | `/jobs/{id}` | Extend status with `phase`: `queued`, `aligning`, `exporting_csv`, `seeding_cache`, `replaying`, `rendering_map`, `complete`, `failed` |
## Demo job pipeline (in-process or subprocess chain)
1. Validate uploads; persist to job dir.
2. `refine_video_offset` (AZ-971) — log refined offset; fail job if `hard_fail` and `REPLAY_API_STRICT_ALIGN=1`.
3. `export_aligned_csv` (AZ-972) → `{job}/work/data_imu.csv`.
4. `extract_route_from_tlog` + `SatelliteProviderRouteClient.seed_route` + tile download + FAISS build (delegate to shared helper extracted from `tests/e2e/replay/_operator_pre_flight.py` — **move to** `src/gps_denied_onboard/operator_replay/cache_seed.py` or `replay_api/orchestrator.py`).
5. Shell `gps-denied-replay --video ... --imu ... --output ...` with populated `GPS_DENIED_OPERATOR_CONFIG_PATH` / cache mount.
6. `_maybe_render_map` + verdict report (AZ-960 / AZ-699 paths).
## Refactor requirement
Extract `populate_c6_from_route` from test module into production package importable by both `replay_api` and C12. E2e fixture becomes thin wrapper calling production orchestrator. Satisfies Epic AC-4.
## Acceptance criteria
- **AC-1**: `POST /replay/demo` on Derkachi fixtures (docker-compose) reaches `phase=complete` with map URL + verdict markdown path in response.
- **AC-2**: `GET /jobs/{id}` exposes phase transitions in order.
- **AC-3**: Unit tests mock satellite-provider; no network in unit tier.
- **AC-4**: `test_az835_e2e_real_flight` refactored to call production orchestrator helper (same code path as API).
- **AC-5**: AZ-959 `(video, csv)` bypass unchanged.
## Out of scope
- WebSocket progress streaming (poll-only for v1).
- Authentication changes beyond AZ-701 bearer token.
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# C12 production CLI — seed cache from tlog route
**Task**: AZ-974_c12_seed_cache_from_tlog
**Name**: C12 `seed-cache-from-tlog` — production binding for route-driven cache build (AZ-836 + AZ-838)
**Description**: Fifth building block of Epic AZ-969. Promotes `extract_route_from_tlog` + `SatelliteProviderRouteClient.seed_route` + C11 tile download + C10 FAISS build from the e2e-only `operator_pre_flight_setup` fixture into the C12 operator CLI. Operators and `replay_api` demo jobs invoke the same production module — not test `conftest.py`.
**Complexity**: 3 SP
**Dependencies**: AZ-836, AZ-838, AZ-839 (fixture reference impl), AZ-326 (C12 CLI — done)
**Blocks**: AZ-973 (soft — demo can seed inline via shared module landed here)
**Component**: `c12_operator_orchestrator` + extracted `operator_replay/cache_seed.py`
**Tracker**: AZ-974
**Parent Epic**: AZ-969
## CLI
```
gps-denied-operator seed-cache-from-tlog \
--tlog PATH \
--cache-root PATH \
[--max-waypoints 10] \
[--region-size-meters 500]
```
Exit 0 on `PopulatedC6Cache` written; exit 2 on `RouteValidationError` / `RouteExtractionError`; exit 1 on transient exhaustion.
## Shared module
Move core of `tests/e2e/replay/_operator_pre_flight.py::populate_c6_from_route` to:
`src/gps_denied_onboard/operator_replay/cache_seed.py`
Public: `populate_c6_from_route(route_spec, *, cache_root, config) -> PopulatedC6Cache`
Imported by: C12 CLI, `replay_api` orchestrator (AZ-973), thinned e2e fixture.
## Acceptance criteria
- **AC-1**: CLI succeeds against mock/real satellite-provider in docker-compose test stack.
- **AC-2**: Output matches `PopulatedC6Cache` shape from AZ-839.
- **AC-3**: `system-flows.md` F11 Phase 1 references this CLI — not "deferred to future cycle".
- **AC-4**: E2e fixture imports production module; no duplicate logic in `tests/`.
## Out of scope
- Bbox-driven F1 Phase 1 (unchanged).
- Companion NVM push (separate C12 bring-up).
_docs/02_tasks/todo/AZ-975_demo_replay_system_design_docs.md
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# System design — F11 demo replay operator flow docs
**Task**: AZ-975_demo_replay_system_design_docs
**Name**: Document F11 demo replay operator flow in system-flows, architecture, replay_protocol
**Description**: Sixth building block of Epic AZ-969. Capture the demo replay path as a first-class system flow (F11), update architecture and replay protocol invariants, amend F1 route-driven variant to reference production C12/replay_api bindings, and cross-link AZ-897 UI spec.
**Complexity**: 2 SP
**Dependencies**: AZ-969 epic spec (this lands with or immediately after child specs)
**Blocks**: (none)
**Component**: `_docs/02_document/`
**Tracker**: AZ-975
**Parent Epic**: AZ-969
## Modified files
1. `_docs/02_document/system-flows.md` — add F11 to inventory + full section (sequence, flowchart, data flow).
2. `_docs/02_document/architecture.md` — replace cycle-4 AZ-897 row; add § "Demo replay operator flow (cycle 5 — AZ-969)".
3. `_docs/02_document/contracts/replay/replay_protocol.md` — add **Invariant 15** (operator demo path); note AZ-908 deferred.
4. `_docs/how_to_test.md` — align with tlog+video UI flow (user-facing intent).
5. `_docs/02_tasks/_dependencies_table.md` — register AZ-969 children.
## Acceptance criteria
- **AC-1**: F11 appears in flow inventory; depends on F1 route variant + replay mode.
- **AC-2**: Invariant 15 documents: raw upload → align → export CSV → single clock replay.
- **AC-3**: No doc claims route seeding is "test-only" or "deferred" without pointing at AZ-974.
- **AC-4**: `../ui` AZ-897 spec cross-linked.
## Out of scope
- Jira bulk sync (process leftover).
_docs/02_tasks/todo/AZ-976_grpc_tile_provision_epic.md
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# gRPC streaming tile provision (Epic)
**Task**: AZ-976_grpc_tile_provision_epic
**Name**: gRPC streaming tile provision — route + local index in, batched tiles out
**Description**: Replace operator-side REST pre-flight tile transfer (`route poll` + `inventory` + per-tile GET) with a single gRPC server-streaming RPC. satellite-provider streams cached tiles immediately while fetching missing tiles from external imagery; gps-denied sends a local tile index so SP skips tiles the client already has at equal-or-better quality and equal-or-newer capture time. Documented in ADR-013 and `tile_provision.proto`.
**Complexity**: Epic — ~13 SP across 3 children (split repos)
**Dependencies**: AZ-838 (route client — done), AZ-316 (tile downloader — done), ADR-004 (operator-only boundary)
**Component**: cross-cutting — `c11_tile_manager`, `c12_operator_orchestrator`, satellite-provider (sibling repo)
**Tracker**: pending
**Originating directive**: user (2026-06-19) — speed up pre-flight cache fill; gRPC streaming with client-side dedup index.
## Goal
Minimize wall-clock from route submit → C6 cache complete on the operator workstation. Time-to-first-tile and total bytes on the wire both improve vs REST.
## Pipeline
| Step | Owner | Mechanism |
|------|-------|-----------|
| 1 | C12 | Build `Route` + collect `local_tiles` from C6 (route bbox intersection) |
| 2 | C11 | `DeliverRouteTiles` gRPC call |
| 3 | satellite-provider | Skip dedup → stream `CACHED` batches → fetch externals → stream `FRESHLY_FETCHED` batches |
| 4 | C11 | Write batches to C6 (existing gates) |
| 5 | Operator | Stage C6 volume to Jetson (USB/rsync) — unchanged |
## Decomposition
| # | Ticket | Est | Repo | Depends |
|---|--------|-----|------|---------|
| C1 | AZ-977 — satellite-provider `RouteTileDelivery` gRPC service | 5 | `../satellite-provider` | — |
| C2 | AZ-978 — C11 `RouteTileDeliveryClient` + C12 integration | 5 | onboard | AZ-977 |
| C3 | AZ-979 — Jetson e2e smoke + ADR/doc sync | 3 | onboard + SP | AZ-978 |
**Total ~13 SP.**
## Acceptance criteria (Epic-level)
- **AC-1**: ADR-013 accepted in `architecture.md`; `tile_provision.proto` + `tile_provision_grpc.md` published.
- **AC-2**: Derkachi corridor provision completes over gRPC with fewer round-trips than REST baseline (measured in AZ-979 report).
- **AC-3**: Client local index suppresses re-transfer when C6 already holds equal-or-better tile (unit test on skip rule).
- **AC-4**: Airborne image build excludes gRPC provision stubs (ADR-004 regression test unchanged).
- **AC-5**: REST `route_client` + `HttpTileDownloader` remain as fallback until AZ-979 marks gRPC primary.
## Out of scope
- In-flight tile download on the UAV (RESTRICT-SAT-1)
- Implementing REST `POST /api/satellite/tiles/inventory` (superseded by this epic)
- Browser/Web UI transport (operator CLI / C12 first)
## References
- ADR-013 — `_docs/02_document/architecture.md`
- Proto — `_docs/02_document/contracts/c11_tilemanager/tile_provision.proto`
- Contract — `_docs/02_document/contracts/c11_tilemanager/tile_provision_grpc.md`
_docs/02_tasks/todo/AZ-977_sp_tile_provision_grpc_service.md
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# satellite-provider TileProvision gRPC service
**Task**: AZ-977_sp_tile_provision_grpc_service
**Epic**: AZ-976
**Name**: Implement `RouteTileDelivery.DeliverRouteTiles` in satellite-provider
**Description**: Add gRPC host implementing `satellite.v1.RouteTileDelivery` from `tile_provision.proto`. Emit `RouteManifest` first, stream `TileBatch` (cached tiles before external fetch), optional `ProgressUpdate`, then `DeliveryComplete` or `DeliveryError`. JWT via gRPC metadata.
**Complexity**: 5 SP
**Dependencies**: AZ-976 (proto contract)
**Component**: satellite-provider (sibling repo)
**Tracker**: pending
## Acceptance criteria
- **AC-1**: `DeliverRouteTiles` stream matches `tile_provision_grpc.md` event sequence.
- **AC-2**: Skip rule omits tiles when client snapshot is equal-or-better resolution and equal-or-newer `captured_at`.
- **AC-3**: `phase=CACHED` batches emit before external fetch completes for on-disk hits.
- **AC-4**: gRPC + existing REST coexist behind feature flag until AZ-979 flips default.
- **AC-5**: OpenAPI/gRPC reflection or grpcurl smoke documented in satellite-provider README.
## Out of scope
- gps-denied Python client (AZ-978)
- Post-landing ingest (D-PROJ-2)
_docs/02_tasks/todo/AZ-978_c11_grpc_tile_provision_client.md
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# C11 RouteTileDeliveryClient
**Task**: AZ-978_c11_grpc_tile_provision_client
**Name**: Python gRPC consumer for RouteTileDelivery + C12 wiring
**Description**: Implement `RouteTileDeliveryClient` in `c11_tile_manager` using `grpcio` + stubs from `tile_provision.proto`. Map internal `RouteSpec` → `satellite.v1.RouteSpec`; build `client_tiles` from C6; consume `RouteTileEvent` oneof (manifest, batch, progress, complete, error). Wire from C12 seed path behind `c11.tile_provision.transport: grpc|rest`.
**Complexity**: 5 SP
**Dependencies**: AZ-977, AZ-974 (soft), AZ-836, AZ-838
**Component**: c11_tile_manager, c12_operator_orchestrator
**Tracker**: pending
## Acceptance criteria
- **AC-1**: Unit tests with fake server cover manifest-first ordering and `batch_seq` resume per `route_id`.
- **AC-2**: `local_tiles` populated from C6 metadata query intersecting route corridor.
- **AC-3**: RESTRICT-SAT-4 / freshness / budget gates unchanged — reject bad tiles even if SP sent them.
- **AC-4**: Generated stubs not imported by airborne/runtime_root build (BUILD flag or package split).
- **AC-5**: Config default `rest` until AZ-979 benchmark promotes `grpc`.
## Out of scope
- satellite-provider server (AZ-977)
- Jetson benchmark report (AZ-979)
_docs/02_tasks/todo/AZ-979_grpc_tile_provision_e2e_benchmark.md
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# gRPC tile provision e2e + benchmark
**Task**: AZ-979_grpc_tile_provision_e2e_benchmark
**Epic**: AZ-976
**Name**: Jetson e2e smoke and REST vs gRPC benchmark for tile provision
**Description**: Add Tier-2 smoke test calling `RouteTileDeliveryClient` against real satellite-provider on Jetson harness. Benchmark wall-clock and bytes transferred vs REST path on Derkachi corridor. Update `architecture.md` integration table to mark gRPC primary. Document resume behaviour after disconnect.
**Complexity**: 3 SP
**Dependencies**: AZ-978, AZ-977
**Component**: tests/e2e, docs
**Tracker**: pending
## Acceptance criteria
- **AC-1**: `tests/e2e/satellite_provider/test_grpc_provision.py` passes on Jetson with `JETSON_SSH_ALIAS=jetson`.
- **AC-2**: Benchmark report in `_docs/06_metrics/` with REST vs gRPC timings and byte counts.
- **AC-3**: `docker-compose.test.jetson.yml` exposes gRPC port for satellite-provider.
- **AC-4**: `c11.tile_provision.transport` default flipped to `grpc` after green benchmark.
## Out of scope
- Deprecating REST route_client in same ticket (follow-up after soak)
_docs/03_implementation/jetson_runs/2026-06-19_cycle4_run.txt
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[run-tests-jetson] minting fresh dev JWT via scripts/mint_dev_jwt.py
[run-tests-jetson] using ssh alias: jetson
[run-tests-jetson] remote dir: /home/jetson/gps-denied-onboard
[run-tests-jetson] remote satprov: /home/jetson/satellite-provider
[run-tests-jetson] compose file: docker-compose.test.jetson.yml
[run-tests-jetson] ensure-dev-cert (local)
[ensure-dev-cert] cert present at /Users/zxsanny/dev/azaion/gps-denied-onboard/satellite-provider/certs/api.pfx
[run-tests-jetson] rsync gps-denied-onboard → jetson:/home/jetson/gps-denied-onboard/
Number of files: 1927
Number of files transferred: 2
Total file size: 384584252 B
Total transferred file size: 12082 B
Unmatched data: 2815 B
Matched data: 9267 B
File list size: 136728 B
File list generation time: 0.020 seconds
File list transfer time: 0.041 seconds
Total sent: 137905 B
Total received: 172 B
sent 137905 bytes received 172 bytes 811740 bytes/sec
total size is 384584252 speedup is 2785.29
[run-tests-jetson] rsync satellite-provider → jetson:/home/jetson/satellite-provider/
Number of files: 805
Number of files transferred: 2
Total file size: 4448030 B
Total transferred file size: 19521 B
Unmatched data: 3698 B
Matched data: 15823 B
File list size: 58214 B
File list generation time: 0.012 seconds
File list transfer time: 0.022 seconds
Total sent: 59226 B
Total received: 232 B
sent 59226 bytes received 232 bytes 475283 bytes/sec
total size is 4448030 speedup is 74.81
[run-tests-jetson] docker compose build e2e-runner (on Jetson)
Image gps-denied-onboard/e2e-runner:jetson Building
Image gps-denied-onboard/satellite-provider:dev Building
#1 [internal] load local bake definitions
#1 reading from stdin 1.07kB done
#1 DONE 0.0s
#2 [internal] load build definition from Dockerfile.jetson
#2 transferring dockerfile: 37B
#2 transferring dockerfile: 5.82kB done
#2 DONE 0.0s
#3 [internal] load metadata for docker.io/dustynv/l4t-pytorch:r36.4.0
#3 DONE 0.5s
#4 [internal] load .dockerignore
#4 transferring context: 383B done
#4 DONE 0.0s
#5 [1/8] FROM docker.io/dustynv/l4t-pytorch:r36.4.0@sha256:a05c85def9139c21014546451d3baab44052d7cabe854d937f163390bfd5201b
#5 resolve docker.io/dustynv/l4t-pytorch:r36.4.0@sha256:a05c85def9139c21014546451d3baab44052d7cabe854d937f163390bfd5201b 0.0s done
#5 DONE 0.0s
#6 [internal] load build context
#6 transferring context: 24.56kB 0.0s done
#6 DONE 0.0s
#7 [4/8] COPY pyproject.toml README.md ./
#7 CACHED
#8 [6/8] RUN rm -f /etc/pip.conf /root/.pip/pip.conf /root/.config/pip/pip.conf
#8 CACHED
#9 [2/8] RUN apt-get update && apt-get install -y --no-install-recommends ca-certificates build-essential libpq-dev libspatialindex-dev libpq5 libspatialindex-c6 libgl1 libglib2.0-0 python3-pip python3-venv && rm -rf /var/lib/apt/lists/*
#9 CACHED
#10 [3/8] WORKDIR /opt
#10 CACHED
#11 [5/8] COPY src ./src
#11 CACHED
#12 [7/8] RUN pip3 install --no-cache-dir --break-system-packages --index-url https://pypi.org/simple --upgrade pip
#12 CACHED
#13 [8/8] RUN pip3 install --no-cache-dir --break-system-packages --index-url https://pypi.org/simple -e ".[dev]"
#13 CACHED
#14 exporting to image
#14 exporting layers 0.0s done
#14 exporting manifest sha256:576a6cf55b8c565abc6f2c26b45b8119ef3924d343bfc7f6e2ee32c079230825 done
#14 exporting config sha256:155e7d5a011ea9ab1493a930c71a9d0ed2874479d02f58ece9951c97207454cb done
#14 exporting attestation manifest sha256:bdd66832b7a8d16539d3398081539fcbd31d568f6195ff15d5275bbc414d6db4 0.0s done
#14 exporting manifest list sha256:6253d1aea7392182b2021241c4a4265ea5943e021f3b504de7a721e7e9271884 done
#14 naming to docker.io/gps-denied-onboard/e2e-runner:jetson done
#14 unpacking to docker.io/gps-denied-onboard/e2e-runner:jetson 0.0s done
#14 DONE 0.2s
#15 resolving provenance for metadata file
#15 DONE 0.0s
Image gps-denied-onboard/e2e-runner:jetson Built
[run-tests-jetson] docker compose up e2e-runner (on Jetson)
Network gps-denied-onboard_default Creating
Network gps-denied-onboard_default Created
Container gps-denied-onboard-db-1 Creating
Container gps-denied-e2e-satellite-provider-postgres Creating
Container gps-denied-e2e-satellite-provider-postgres Created
Container gps-denied-e2e-satellite-provider Creating
Container gps-denied-onboard-db-1 Created
Container gps-denied-e2e-satellite-provider Created
Container gps-denied-onboard-e2e-runner-1 Creating
Container gps-denied-onboard-e2e-runner-1 Created
Attaching to gps-denied-e2e-satellite-provider, gps-denied-e2e-satellite-provider-postgres, db-1, e2e-runner-1
Container gps-denied-e2e-satellite-provider-postgres Starting
Container gps-denied-onboard-db-1 Starting
Container gps-denied-onboard-db-1 Started
Container gps-denied-e2e-satellite-provider-postgres Started
Container gps-denied-e2e-satellite-provider-postgres Waiting
db-1 |
db-1 | PostgreSQL Database directory appears to contain a database; Skipping initialization
db-1 |
gps-denied-e2e-satellite-provider-postgres |
gps-denied-e2e-satellite-provider-postgres | PostgreSQL Database directory appears to contain a database; Skipping initialization
gps-denied-e2e-satellite-provider-postgres |
db-1 | 2026-06-20 08:14:12.259 UTC [1] LOG: starting PostgreSQL 16.14 on aarch64-unknown-linux-musl, compiled by gcc (Alpine 15.2.0) 15.2.0, 64-bit
db-1 | 2026-06-20 08:14:12.259 UTC [1] LOG: listening on IPv4 address "0.0.0.0", port 5432
db-1 | 2026-06-20 08:14:12.259 UTC [1] LOG: listening on IPv6 address "::", port 5432
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:14:12.261 UTC [1] LOG: starting PostgreSQL 16.14 (Debian 16.14-1.pgdg13+1) on aarch64-unknown-linux-gnu, compiled by gcc (Debian 14.2.0-19) 14.2.0, 64-bit
db-1 | 2026-06-20 08:14:12.261 UTC [1] LOG: listening on Unix socket "/var/run/postgresql/.s.PGSQL.5432"
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:14:12.261 UTC [1] LOG: listening on IPv4 address "0.0.0.0", port 5432
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:14:12.261 UTC [1] LOG: listening on IPv6 address "::", port 5432
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:14:12.263 UTC [1] LOG: listening on Unix socket "/var/run/postgresql/.s.PGSQL.5432"
db-1 | 2026-06-20 08:14:12.268 UTC [29] LOG: database system was shut down at 2026-06-19 12:22:55 UTC
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:14:12.269 UTC [29] LOG: database system was shut down at 2026-06-19 12:22:56 UTC
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:14:12.278 UTC [1] LOG: database system is ready to accept connections
db-1 | 2026-06-20 08:14:12.278 UTC [1] LOG: database system is ready to accept connections
Container gps-denied-e2e-satellite-provider-postgres Healthy
Container gps-denied-e2e-satellite-provider Starting
Container gps-denied-e2e-satellite-provider Started
Container gps-denied-onboard-db-1 Waiting
Container gps-denied-e2e-satellite-provider Waiting
Container gps-denied-onboard-db-1 Healthy
gps-denied-e2e-satellite-provider | 2026-06-20 08:14:18 +00:00 [DBG] Master ConnectionString => Host=satellite-provider-postgres;Port=5432;Database=postgres;Username=postgres;Password=******
gps-denied-e2e-satellite-provider | 2026-06-20 08:14:19 +00:00 [INF] Beginning database upgrade
gps-denied-e2e-satellite-provider | 2026-06-20 08:14:19 +00:00 [INF] Checking whether journal table exists
gps-denied-e2e-satellite-provider | 2026-06-20 08:14:19 +00:00 [INF] Fetching list of already executed scripts.
gps-denied-e2e-satellite-provider | 2026-06-20 08:14:19 +00:00 [INF] No new scripts need to be executed - completing.
gps-denied-e2e-satellite-provider | [08:14:19 INF] RegionRequestQueue created with capacity 1000
gps-denied-e2e-satellite-provider | [08:14:19 INF] Region Processing Service started with 20 parallel workers
gps-denied-e2e-satellite-provider | [08:14:19 INF] Route Processing Service started
gps-denied-e2e-satellite-provider | [08:14:19 WRN] Overriding HTTP_PORTS '8080' and HTTPS_PORTS ''. Binding to values defined by URLS instead 'https://+:8080'.
gps-denied-e2e-satellite-provider | [08:14:19 INF] Now listening on: https://[::]:8080
gps-denied-e2e-satellite-provider | [08:14:19 INF] Application started. Press Ctrl+C to shut down.
gps-denied-e2e-satellite-provider | [08:14:19 INF] Hosting environment: Development
gps-denied-e2e-satellite-provider | [08:14:19 INF] Content root path: /app
Container gps-denied-e2e-satellite-provider Healthy
Container gps-denied-onboard-e2e-runner-1 Starting
Container gps-denied-onboard-e2e-runner-1 Started
e2e-runner-1 | ============================= test session starts ==============================
e2e-runner-1 | platform linux -- Python 3.10.12, pytest-9.1.1, pluggy-1.6.0 -- /usr/bin/python3.10
e2e-runner-1 | cachedir: .pytest_cache
e2e-runner-1 | rootdir: /opt
e2e-runner-1 | configfile: pyproject.toml
e2e-runner-1 | plugins: cov-7.1.0, anyio-4.14.0, asyncio-1.4.0
e2e-runner-1 | asyncio: mode=strict, debug=False, asyncio_default_fixture_loop_scope=None, asyncio_default_test_loop_scope=function
e2e-runner-1 | collecting ... collected 57 items
e2e-runner-1 |
e2e-runner-1 | tests/e2e/replay/test_az835_e2e_real_flight.py::test_az840_e2e_real_flight_orchestration SKIPPED [ 1%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac1_exits_0_jsonl_count_match XFAIL [ 3%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac2_jsonl_schema_match PASSED [ 5%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac3_within_100m_80pct_of_ticks XFAIL [ 7%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac4_mode_agnosticism_ast_scan PASSED [ 8%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac4_encoder_byte_equality_via_transport_seam PASSED [ 10%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac5_determinism_two_runs_diff XFAIL [ 12%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac6_pace_realtime_60s_within_5pct XFAIL [ 14%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac6_pace_asap_under_30s XFAIL [ 15%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac7_skip_gate_consistent_with_env_var PASSED [ 17%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_1min.py::test_ac8_operator_workflow SKIPPED [ 19%]
e2e-runner-1 | tests/e2e/replay/test_derkachi_real_tlog.py::test_az699_real_flight_validation_emits_verdict_and_report SKIPPED [ 21%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_write_effective_replay_config_overlays_root_dir PASSED [ 22%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_write_effective_replay_config_creates_block_when_absent PASSED [ 24%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_write_effective_replay_config_malformed_yaml_fails PASSED [ 26%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_write_effective_replay_config_non_mapping_top_level_fails PASSED [ 28%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_read_calibration_acquisition_method_returns_field_when_present PASSED [ 29%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_read_calibration_acquisition_method_returns_unknown_on_missing PASSED [ 31%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_read_calibration_acquisition_method_returns_unknown_on_malformed PASSED [ 33%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_missing_tlog_fails_loud PASSED [ 35%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_missing_binary_fails_loud PASSED [ 36%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_replay_nonzero_exit_fails_loud PASSED [ 38%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_replay_timeout_fails_loud PASSED [ 40%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_replay_oserror_fails_loud PASSED [ 42%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_empty_jsonl_fails_loud PASSED [ 43%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_malformed_jsonl_fails_loud PASSED [ 45%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_ground_truth_loader_failure_fails_loud PASSED [ 47%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_happy_path_writes_report PASSED [ 49%]
e2e-runner-1 | tests/e2e/replay/test_e2e_orchestrator_unit.py::test_run_e2e_orchestration_writes_report_even_on_fail_verdict PASSED [ 50%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_ac9_l2_zero_at_same_point PASSED [ 52%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_ac9_l2_north_one_degree_111km PASSED [ 54%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_ac9_l2_known_pair_kharkiv_kyiv PASSED [ 56%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_ac9_l2_symmetric PASSED [ 57%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_match_percentage_all_within_threshold PASSED [ 59%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_match_percentage_none_within_threshold PASSED [ 61%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_match_percentage_empty_emissions_zero PASSED [ 63%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_match_percentage_empty_ground_truth_raises PASSED [ 64%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_parse_jsonl_round_trip PASSED [ 66%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_parse_jsonl_skips_trailing_blank PASSED [ 68%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_parse_jsonl_invalid_line_raises PASSED [ 70%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_capturing_transport_records_writes PASSED [ 71%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_capturing_transport_close_then_write_raises PASSED [ 73%]
e2e-runner-1 | tests/e2e/replay/test_helpers.py::test_capturing_transport_implements_protocol PASSED [ 75%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_populate_c6_from_route_returns_populated_cache PASSED [ 77%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_populate_c6_from_route_passes_sector_class_to_downloader PASSED [ 78%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_route_validation_error_propagates_unchanged PASSED [ 80%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_route_terminal_failure_propagates_unchanged PASSED [ 82%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_route_transient_error_retries_then_succeeds PASSED [ 84%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_route_transient_error_exhausted_propagates_last_attempt PASSED [ 85%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_descriptor_index_factory_index_unavailable_propagates PASSED [ 87%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_cleanup_removes_partial_sidecar_files_on_failure PASSED [ 89%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_cleanup_preserves_pre_existing_warm_cache PASSED [ 91%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_batcher_failure_propagates_and_cleans_up PASSED [ 92%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_driver.py::test_downloader_failure_propagates_and_cleans_up PASSED [ 94%]
e2e-runner-1 | tests/e2e/replay/test_operator_pre_flight_integration.py::test_operator_pre_flight_setup_produces_populated_cache SKIPPED [ 96%]
e2e-runner-1 | tests/e2e/satellite_provider/test_smoke.py::test_smoke_satellite_provider_inventory_contract FAILED [ 98%]
e2e-runner-1 | tests/e2e/satellite_provider/test_smoke.py::test_smoke_c11_download_via_http_pipeline FAILED [100%]
e2e-runner-1 |
e2e-runner-1 | =================================== FAILURES ===================================
e2e-runner-1 | _______________ test_smoke_satellite_provider_inventory_contract _______________
e2e-runner-1 | tests/e2e/satellite_provider/test_smoke.py:189: in test_smoke_satellite_provider_inventory_contract
e2e-runner-1 | assert response.status_code == 200, (
e2e-runner-1 | E AssertionError: satellite-provider inventory POST returned 404: ''
e2e-runner-1 | E assert 404 == 200
e2e-runner-1 | E + where 404 = <Response [404 Not Found]>.status_code
e2e-runner-1 | ----------------------------- Captured stdout call -----------------------------
e2e-runner-1 | {"ts":"2026-06-20T08:15:44.848668Z","level":"INFO","component":"httpx","frame_id":null,"kind":"log.diag","msg":"HTTP Request: POST https://satellite-provider:8080/api/satellite/tiles/inventory \"HTTP/1.1 404 Not Found\"","kv":{},"exc":null}
e2e-runner-1 | ------------------------------ Captured log call -------------------------------
e2e-runner-1 | INFO httpx:_client.py:1025 HTTP Request: POST https://satellite-provider:8080/api/satellite/tiles/inventory "HTTP/1.1 404 Not Found"
e2e-runner-1 | __________________ test_smoke_c11_download_via_http_pipeline ___________________
e2e-runner-1 | tests/e2e/satellite_provider/test_smoke.py:301: in test_smoke_c11_download_via_http_pipeline
e2e-runner-1 | report = downloader.download_tiles_for_area(request)
e2e-runner-1 | src/gps_denied_onboard/components/c11_tile_manager/tile_downloader.py:543: in download_tiles_for_area
e2e-runner-1 | summaries = self._enumerate_remote(request)
e2e-runner-1 | src/gps_denied_onboard/components/c11_tile_manager/tile_downloader.py:636: in _enumerate_remote
e2e-runner-1 | self._do_enumerate(
e2e-runner-1 | src/gps_denied_onboard/components/c11_tile_manager/tile_downloader.py:678: in _do_enumerate
e2e-runner-1 | summaries.extend(self._fetch_inventory_chunk(chunk))
e2e-runner-1 | src/gps_denied_onboard/components/c11_tile_manager/tile_downloader.py:683: in _fetch_inventory_chunk
e2e-runner-1 | response = self._send_post(
e2e-runner-1 | src/gps_denied_onboard/components/c11_tile_manager/tile_downloader.py:878: in _send_post
e2e-runner-1 | return self._send_request("POST", url, params=None, json_body=json_body, session=session)
e2e-runner-1 | src/gps_denied_onboard/components/c11_tile_manager/tile_downloader.py:963: in _send_request
e2e-runner-1 | raise SatelliteProviderError(
e2e-runner-1 | E gps_denied_onboard.components.c11_tile_manager.errors.SatelliteProviderError: satellite-provider returned unexpected status 404 (expected 200)
e2e-runner-1 | ----------------------------- Captured stdout call -----------------------------
e2e-runner-1 | {"ts":"2026-06-20T08:15:44.866897Z","level":"INFO","component":"c11_tile_manager.tile_downloader","frame_id":null,"kind":"c11.download.session.start","msg":"Pre-flight tile download session started","kv":{"flight_id":"9346cdb7-a5b4-4d87-a47c-370415c297dd","request_hash":"46a59716a231eeab","bbox":[50.099,36.099,50.101,36.101],"zoom_levels":[15],"sector_class":"stable_rear","resume_from_journal":false,"tiles_already_completed":0},"exc":null}
e2e-runner-1 | {"ts":"2026-06-20T08:15:44.883304Z","level":"INFO","component":"httpx","frame_id":null,"kind":"log.diag","msg":"HTTP Request: POST https://satellite-provider:8080/api/satellite/tiles/inventory \"HTTP/1.1 404 Not Found\"","kv":{},"exc":null}
e2e-runner-1 | {"ts":"2026-06-20T08:15:44.884249Z","level":"ERROR","component":"c11_tile_manager.tile_downloader","frame_id":null,"kind":"c11.download.provider.failed","msg":"Download provider failed","kv":{"reason":"unexpected_status","http_status":404,"detail":"non-200","auth_header":"Bearer ***"},"exc":null}
e2e-runner-1 | {"ts":"2026-06-20T08:15:44.888017Z","level":"INFO","component":"c11_tile_manager.tile_downloader","frame_id":null,"kind":"c11.download.session.end","msg":"Pre-flight tile download session ended","kv":{"flight_id":"9346cdb7-a5b4-4d87-a47c-370415c297dd","request_hash":"46a59716a231eeab","outcome":"failure","tiles_requested":0,"tiles_downloaded":0,"tiles_rejected_resolution":0,"tiles_rejected_freshness":0,"tiles_downgraded":0,"retry_count":0},"exc":null}
e2e-runner-1 | ------------------------------ Captured log call -------------------------------
e2e-runner-1 | INFO test_az777_smoke:tile_downloader.py:519 Pre-flight tile download session started
e2e-runner-1 | INFO httpx:_client.py:1025 HTTP Request: POST https://satellite-provider:8080/api/satellite/tiles/inventory "HTTP/1.1 404 Not Found"
e2e-runner-1 | ERROR test_az777_smoke:tile_downloader.py:994 Download provider failed
e2e-runner-1 | INFO test_az777_smoke:tile_downloader.py:578 Pre-flight tile download session ended
e2e-runner-1 | =============================== warnings summary ===============================
e2e-runner-1 | ../usr/local/lib/python3.10/dist-packages/faiss/loader.py:44
e2e-runner-1 | /usr/local/lib/python3.10/dist-packages/faiss/loader.py:44: DeprecationWarning:
e2e-runner-1 |
e2e-runner-1 | `numpy.distutils` is deprecated since NumPy 1.23.0, as a result
e2e-runner-1 | of the deprecation of `distutils` itself. It will be removed for
e2e-runner-1 | Python >= 3.12. For older Python versions it will remain present.
e2e-runner-1 | It is recommended to use `setuptools < 60.0` for those Python versions.
e2e-runner-1 | For more details, see:
e2e-runner-1 | https://numpy.org/devdocs/reference/distutils_status_migration.html
e2e-runner-1 |
e2e-runner-1 |
e2e-runner-1 | import numpy.distutils.cpuinfo
e2e-runner-1 |
e2e-runner-1 | -- Docs: https://docs.pytest.org/en/stable/how-to/capture-warnings.html
e2e-runner-1 | =========================== short test summary info ============================
e2e-runner-1 | SKIPPED [1] tests/e2e/replay/test_az835_e2e_real_flight.py:127: AZ-839 operator_pre_flight_setup: descriptor_dim resolver only supports c2_vpr.strategy='net_vlad'; got '<missing>' on backbone 'net_vlad'. See AZ-839 spec § Out of scope.
e2e-runner-1 | SKIPPED [1] tests/e2e/replay/test_derkachi_1min.py:479: AC-8 (operator workflow rehearsal) blocked on the full D-PROJ-2 mock-suite-sat-service implementation — current tests/fixtures/mock-suite-sat-service/ is a bootstrap stub with only GET /healthz. Unskips when the mock implements tile-fetch + index-build endpoints.
e2e-runner-1 | SKIPPED [1] tests/e2e/replay/test_derkachi_real_tlog.py:202: real tlog missing: /opt/_docs/00_problem/input_data/flight_derkachi/derkachi.tlog
e2e-runner-1 | SKIPPED [1] tests/e2e/replay/test_operator_pre_flight_integration.py:22: AZ-839 operator_pre_flight_setup: descriptor_dim resolver only supports c2_vpr.strategy='net_vlad'; got '<missing>' on backbone 'net_vlad'. See AZ-839 spec § Out of scope.
e2e-runner-1 | XFAIL tests/e2e/replay/test_derkachi_1min.py::test_ac1_exits_0_jsonl_count_match - AZ-963: Derkachi fixture has no reference C6 tile cache; open-loop ESKF diverges at ~frame 233 (Mahalanobis² > 100). Un-xfail when AZ-777 lands.
e2e-runner-1 | XFAIL tests/e2e/replay/test_derkachi_1min.py::test_ac3_within_100m_80pct_of_ticks - AZ-963: Derkachi fixture has no reference C6 tile cache; open-loop ESKF diverges at ~frame 233 (Mahalanobis² > 100). Un-xfail when AZ-777 lands.
e2e-runner-1 | XFAIL tests/e2e/replay/test_derkachi_1min.py::test_ac5_determinism_two_runs_diff - AZ-963: Derkachi fixture has no reference C6 tile cache; open-loop ESKF diverges at ~frame 233 (Mahalanobis² > 100). Un-xfail when AZ-777 lands.
e2e-runner-1 | XFAIL tests/e2e/replay/test_derkachi_1min.py::test_ac6_pace_realtime_60s_within_5pct - AZ-963: Derkachi fixture has no reference C6 tile cache; open-loop ESKF diverges at ~frame 233 (Mahalanobis² > 100). Un-xfail when AZ-777 lands.
e2e-runner-1 | XFAIL tests/e2e/replay/test_derkachi_1min.py::test_ac6_pace_asap_under_30s - AZ-963: Derkachi fixture has no reference C6 tile cache; open-loop ESKF diverges at ~frame 233 (Mahalanobis² > 100). Un-xfail when AZ-777 lands.
e2e-runner-1 | FAILED tests/e2e/satellite_provider/test_smoke.py::test_smoke_satellite_provider_inventory_contract
e2e-runner-1 | FAILED tests/e2e/satellite_provider/test_smoke.py::test_smoke_c11_download_via_http_pipeline
e2e-runner-1 | === 2 failed, 46 passed, 4 skipped, 5 xfailed, 1 warning in 79.92s (0:01:19) ===
e2e-runner-1 exited with code 1
Compose Stopping Aborting on container exit...
Container gps-denied-onboard-e2e-runner-1 Stopping
Container gps-denied-onboard-e2e-runner-1 Stopped
Container gps-denied-onboard-db-1 Stopping
Container gps-denied-e2e-satellite-provider Stopping
gps-denied-e2e-satellite-provider | [08:15:46 INF] Application is shutting down...
db-1 | 2026-06-20 08:15:46.891 UTC [1] LOG: received fast shutdown request
db-1 | 2026-06-20 08:15:46.892 UTC [1] LOG: aborting any active transactions
db-1 | 2026-06-20 08:15:46.897 UTC [1] LOG: background worker "logical replication launcher" (PID 32) exited with exit code 1
db-1 | 2026-06-20 08:15:46.897 UTC [27] LOG: shutting down
db-1 | 2026-06-20 08:15:46.898 UTC [27] LOG: checkpoint starting: shutdown immediate
db-1 | 2026-06-20 08:15:46.904 UTC [27] LOG: checkpoint complete: wrote 3 buffers (0.0%); 0 WAL file(s) added, 0 removed, 0 recycled; write=0.002 s, sync=0.001 s, total=0.008 s; sync files=2, longest=0.001 s, average=0.001 s; distance=0 kB, estimate=0 kB; lsn=0/1A00478, redo lsn=0/1A00478
gps-denied-e2e-satellite-provider | [08:15:46 INF] Region Processing Service stopped
db-1 | 2026-06-20 08:15:46.919 UTC [1] LOG: database system is shut down
Container gps-denied-e2e-satellite-provider Stopped
Container gps-denied-e2e-satellite-provider-postgres Stopping
gps-denied-e2e-satellite-provider exited with code 0
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:15:47.287 UTC [1] LOG: received fast shutdown request
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:15:47.288 UTC [1] LOG: aborting any active transactions
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:15:47.298 UTC [1] LOG: background worker "logical replication launcher" (PID 32) exited with exit code 1
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:15:47.298 UTC [27] LOG: shutting down
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:15:47.300 UTC [27] LOG: checkpoint starting: shutdown immediate
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:15:47.306 UTC [27] LOG: checkpoint complete: wrote 2 buffers (0.0%); 0 WAL file(s) added, 0 removed, 0 recycled; write=0.003 s, sync=0.001 s, total=0.008 s; sync files=3, longest=0.001 s, average=0.001 s; distance=0 kB, estimate=0 kB; lsn=0/11341D40, redo lsn=0/11341D40
gps-denied-e2e-satellite-provider-postgres | 2026-06-20 08:15:47.318 UTC [1] LOG: database system is shut down
Container gps-denied-onboard-db-1 Stopped
db-1 exited with code 0
Container gps-denied-e2e-satellite-provider-postgres Stopped
gps-denied-e2e-satellite-provider-postgres exited with code 0
_docs/03_implementation/run_tests_step11_report.md
+111
View File
@@ -634,3 +634,114 @@ Pre-launch fix in commit `a15a062 [AZ-844] Exclude satellite-provider runtime di
Auto-chain → Step 12 (Test-Spec Sync) on next `/autodev` invocation.
---
## Cycle 4 (2026-06-19)
Scope of cycle-4 implementation (5 batches, `batch_01`..`batch_05_cycle4_report.md`):
- Wave-1 housekeeping: AZ-899 architecture compliance baseline
- Replay-input redesign: AZ-894 CSV adapter, AZ-896 tlog route, AZ-895 auto-sync deprecation, AZ-842 protocol docs
- AZ-963: Derkachi 60s smoke regressions — Option D+E (xfail + XPASS root-cause fix)
### Local unit suite
```
.venv/bin/python -m pytest tests/unit/ -v --tb=short
====== 2307 passed, 84 skipped in 48.68s =======
```
0 failed. 84 skips classified as legitimate on a macOS dev host:
| Reason | Count | Verdict |
|--------|------:|---------|
| Requires Docker compose services (postgres / mock-sat) | 57 | legitimate locally — covered on Jetson e2e lane |
| Tier-2-only / Jetson hardware (NVML, L4T) | 1 | legitimate |
| TensorRT / onnxruntime not installed | 7 | legitimate (Tier-2 Jetson only) |
| Derkachi reference tlog gitignored / absent | 2 | legitimate |
| AC-1 RSS measurement deferred to e2e | 1 | legitimate |
| `actionlint` not on PATH (CI-only) | 1 | legitimate |
| Empty parametrize (`runtime`) | 1 | legitimate |
| Other env-conditional | 14 | legitimate |
Note: pytest segfaults inside the Cursor sandbox (numpy import during collection); runs cleanly outside sandbox with project `.venv`.
### Jetson e2e
Ran 2026-06-19 via `PATH=".venv/bin:$PATH" JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh`.
Log: `_docs/03_implementation/jetson_runs/2026-06-19_cycle4_run.txt` (wall clock ~9 min incl. rsync + build).
```
====== 8 failed, 45 passed, 4 skipped, 1 warning in 17.37s =======
```
#### Failure root causes
| # | Test(s) | Root cause | Category |
|---|---------|------------|----------|
| 1 | `test_ac1`..`test_ac6` (6×) | `flight_derkachi.mp4` is a 134-byte Git LFS pointer on disk; rsync excludes LFS blobs → `moov atom not found` / `VideoCapture could not open` | **missing fixture/data** |
| 2 | `test_smoke_satellite_provider_*` (2×) | `POST …/api/satellite/tiles/inventory` → HTTP 404 from satellite-provider container | **environment / API drift** |
#### AZ-963 gap
`batch_05_cycle4_report.md` documents `@pytest.mark.xfail` on five Derkachi tests, but the working tree has **zero** `xfail` markers in `test_derkachi_1min.py` (grep confirms). Jira AZ-963 is Done; the xfail triage code was never landed in this checkout.
#### Skip classification (4)
All legitimate: AZ-839 descriptor_dim gate (2×), AC-8 mock-sat stub (1×), real tlog absent (1×).
### Step 11 status: **blocked (cycle 4)** — unit gate PASS; Jetson e2e 2 FAIL (stale satprov image); AZ-963 xfail landed
---
## Cycle 4 rerun (2026-06-20)
Resumed Step 11 after AZ-963 xfail markers were missing from the tree
(batch_05 report documented them but they were never committed).
### Fixes applied this session
| Change | Purpose |
|--------|---------|
| `@pytest.mark.xfail` on AC-1/3/5/6 (AZ-963) in `test_derkachi_1min.py` | Honest gating for open-loop ESKF divergence without C6 cache |
| LFS preflight in `scripts/run-tests-jetson.sh` | Fail fast when `flight_derkachi.mp4` is a 134-byte pointer |
| `run-tests-jetson.sh` builds **e2e-runner only** | Parent-suite `protoc` segfaults on arm64 inside dotnet-sdk (AZ-977 gRPC proto); cached `satellite-provider:dev` image used as-is |
### Local unit suite
```
.venv/bin/python -m pytest tests/unit/ -q --tb=no
2307 passed, 84 skipped in 43.72s
```
### Jetson e2e (rerun)
```
PATH=".venv/bin:$PATH" JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh
```
Log: `_docs/03_implementation/jetson_runs/2026-06-20_cycle4_rerun.txt`
```
====== 2 failed, 46 passed, 4 skipped, 5 xfailed, 1 warning in 79.92s =======
```
| Outcome | Count | Notes |
|---------|------:|-------|
| PASSED | 46 | incl. `test_ac2_jsonl_schema_match` (mp4 smudged; was 6× FAIL on 2026-06-19) |
| XFAIL | 5 | AZ-963 open-loop ESKF (expected) |
| SKIPPED | 4 | AC-8 mock-sat, AZ-839 backbone gate, real tlog absent |
| FAILED | 2 | `test_smoke_satellite_provider_*` — HTTP 404 on `POST /api/satellite/tiles/inventory` |
#### Remaining failure root cause
The cached `gps-denied-onboard/satellite-provider:dev` image on the Jetson
predates the AZ-505 inventory endpoint (or is otherwise stale). Rebuild is
blocked: current parent-suite source adds `tile_provision.proto` (AZ-977) and
`protoc` exits 139 on arm64 during `docker compose build satellite-provider`.
Resolution path: fix arm64 gRPC proto build in `../satellite-provider` (AZ-977),
then re-enable `build satellite-provider` in `run-tests-jetson.sh`.
### Step 11 status: **in_progress (cycle 4)** — unit PASS; Jetson 2 FAIL (satprov image stale / AZ-977 build blocker)
_docs/_autodev_state.md
+3 -3
View File
@@ -6,9 +6,9 @@ step: 11
name: Run Tests
status: in_progress
sub_step:
phase: 1
name: run-unit-tests
detail: ""
phase: 2
name: jetson-e2e
detail: "2 fail satprov 404; 5 xfail AZ-963 ok"
retry_count: 0
cycle: 4
tracker: jira
_docs/_process_leftovers/2026-09-06_az963_jira_transition.md
-9
View File
@@ -1,9 +0,0 @@
# Tracker leftover — AZ-963 Jira transition
**Timestamp:** 2026-09-06T20:43:00+03:00
**What was blocked:** AZ-963 status transition (In Progress → Done) in Jira
**Full payload:**
- Issue: AZ-963
- Target status: Done
- Comment: "Implemented as xfail+returncode fix (Option D+E). Committed as 201ec7c. Tests AC-4a/AC-4b/AC-7 pass locally. Five xfail-marked tests will XFAIL on Tier-2 until AZ-777 lands."
**Reason:** Jira MCP server availability not confirmed during this session
_docs/how_to_test.md
+11 -8
View File
@@ -1,11 +1,14 @@
Testing strategy without real flight.
# Demo replay validation (operator workflow — F11)
upload tlog file
upload video synced with tlog
Upload a flight video and ArduPilot tlog from the same sortie. The suite UI shows two timeline bars: video above, tlog IMU activity below. Drag the video bar to align with takeoff on the tlog, refine the match, then run the demo. The system:
1. Extracts IMU and GPS from the tlog.
2. Aligns video to tlog using your coarse placement plus backend refinement.
3. Exports a canonical aligned CSV (single time base for replay).
4. Seeds satellite corridor tiles from the tlog GPS route.
5. Runs the same GPS-denied pipeline as live flight against the video.
6. Returns estimated GPS fixes, a map, and a PASS/FAIL accuracy verdict.
system should:
1. extract timestamps, imu and gps from the tlog file.
2. usually video and tlog aren't synchronized. So system should synchronize them by itself.
Usual test is done on the quadcopters, so usually it starts from the drone on the ground and ends with the drone on the ground. These sessions are clearly visible in the chart IMU data of the tlog file. So, system can check the duration of the video and events in IMU chart in tlog. Then it can analyze by IMU the moment of actual take off and sync them
3. then make SITL and provide IMU and frames to the gps denied onboard system
Advanced: upload a pre-aligned `(video, CSV)` pair to skip alignment (AZ-959).
Live flight (F3) is unchanged: IMU and frames from the aircraft in real time.