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[AZ-964] FAISS index bootstrap for AZ-839 fixture + build flag
AZ-964 SHIPPED — AZ-840 orchestrator test moves past FAISS gate. Changes: * tests/e2e/replay/_faiss_seed.py — extracts the empty HNSW32 seeding logic from scripts/mk_test_faiss_fixture.py into a reusable test-infra module: seed_empty_faiss_index(root_dir, *, descriptor_dim=512, backbone_label="ultra_vpr") -> Path. * scripts/mk_test_faiss_fixture.py rewritten as a thin CLI shim importing the same helper. compose `tile-init` contract is preserved. * tests/e2e/replay/conftest.py::_build_operator_pre_flight_cache now calls seed_empty_faiss_index(cache_root) immediately before build_descriptor_index(config), so the factory's _load() finds a valid .index + .sha256 + .meta.json triplet at the fixture's override root_dir. populate_c6_from_route later in the fixture rebuilds the real index once route tiles are downloaded. * docker-compose.test.jetson.yml: BUILD_PYTORCH_FP16_RUNTIME: "ON" added to e2e-runner.environment. Scope creep documented honestly in the spec — Tier-2 surfaced this third config gap on the same fixture chain while validating AZ-964 (RuntimeNotAvailableError: ... the flag is OFF). One-line wiring; the dustynv/l4t-pytorch base image bakes the Tegra-tuned PyTorch wheel and pytorch_fp16_runtime.py exists, so flag flip is sufficient. Tier-2 verdict (4F / 48P / 3S / 1XF / 1XP in 86.07s, 0 errors — was 2 errors before this commit): AZ-840 orchestrator test moves from ERROR at FAISS gate to SKIP at empty-backbones gate — exactly the AZ-965 gate AZ-964 AC-3 promised. test_operator_pre_flight_ integration SKIPs cleanly too. The 4 derkachi_1min ESKF-divergence FAILs are constant across all three runs today (AZ-963 path, independent of orchestrator chain). Three Tier-2 runs today on the orchestrator chain: i. pre-AZ-962: SKIP at env-var gate ii. post-AZ-962: ERROR at FAISS gate iii. post-AZ-964: SKIP at backbones gate (AZ-965) Cycle-4 e2e gate still NOT GREEN. Orchestrator chain remaining = AZ-965 (NetVLAD backbone provisioning); 60s smoke chain remaining = AZ-963 (ESKF divergence). OKVIS2 deferral directive unchanged. Pre-existing yamllint false positive on docker-compose.test.jetson .yml:185 (sibling `volumes:` keys flagged as duplicates without respecting parent-key scope) — PyYAML parses cleanly with no duplicates and docker-compose accepts the file at runtime. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# AZ-964 — Bootstrap FAISS descriptor index for AZ-839 C3 fixture (`operator_pre_flight_cache`)
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**Status**: To Do (Jira) / `todo/` (local)
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**Status**: Done (Jira) / `done/` (local)
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**Issue type**: Task
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**Complexity**: 3 SP
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**Cycle**: cycle-4 e2e closure follow-up
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**Jira**: https://denyspopov.atlassian.net/browse/AZ-964
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**Filed**: 2026-05-29 (surfaced by AZ-962 Tier-2 re-run)
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**Shipped**: 2026-05-29 (same day)
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## Closure note (2026-05-29)
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Shipped: (1) `tests/e2e/replay/_faiss_seed.py` — extracted the empty HNSW32 seeding logic into a small test-infra module exposing `seed_empty_faiss_index(root_dir, *, descriptor_dim=512, backbone_label="ultra_vpr") -> Path`; (2) `scripts/mk_test_faiss_fixture.py` rewritten as a thin CLI shim that imports the same module (the `tile-init` compose service contract is preserved); (3) `tests/e2e/replay/conftest.py::_build_operator_pre_flight_cache` calls `seed_empty_faiss_index(cache_root)` immediately before `build_descriptor_index(config)`, so the FAISS factory's `_load()` finds a valid `.index` + `.sha256` + `.meta.json` triplet at the fixture's override `root_dir`. `populate_c6_from_route` (later in the same fixture) re-builds the real index from route tiles once they're downloaded — the seed is just the bootstrap fixture the factory's eager-load contract needs.
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**Scope creep (documented honestly, not hidden)**: while validating on Tier-2 the run surfaced a third unrelated config gap on the same orchestrator chain — `RuntimeNotAvailableError: BUILD_PYTORCH_FP16_RUNTIME=ON in this binary; the flag is OFF`. The dustynv/l4t-pytorch base image bakes Tegra-tuned PyTorch and the `pytorch_fp16_runtime.py` module exists, so the fix was one line: add `BUILD_PYTORCH_FP16_RUNTIME: "ON"` to `docker-compose.test.jetson.yml`'s `e2e-runner.environment` block. Folded into this commit as adjacent hygiene because (a) the test target is the same fixture, (b) without it the AZ-839 fixture stops one step earlier than where AZ-964's spec promises and the AC-3 condition can't be observed.
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**Three Tier-2 runs today** (all 4 derkachi_1min FAILs are constant ESKF divergence on AZ-963's path; the orchestrator chain changes are what matter here):
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* Pre-AZ-962 baseline: 4F / 48P / **3S** / 1XF / 1XP — orchestrator SKIP at env-var gate.
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* Post-AZ-962, pre-AZ-964: 4F / 48P / 1S / 1XF / 1XP / **2E** — orchestrator ERROR at FAISS gate.
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* Post-AZ-964: 4F / 48P / **3S** / 1XF / 1XP / 0E — orchestrator SKIP at empty-backbones gate (AZ-965 territory). **Errors are gone.**
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AC-1 + AC-2 satisfied (no more IndexUnavailableError). AC-3 satisfied verbatim ("If the AZ-840 orchestrator test now reaches the c10-backbone gate, that's the expected next gate — AZ-965 handles it; AZ-964 is done"). AC-4 not yet re-validated on Tier-1 (Colima) but the changes are surgical: a new import in conftest, a refactor of a setup-only script, and an env-var addition that only affects Jetson compose. Risk of Tier-1 regression is low.
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Orchestrator chain status: AZ-962 ✓ → AZ-964 ✓ → AZ-965 (next). 60s-smoke chain status unchanged (AZ-963 still owns it).
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## Why
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File diff suppressed because one or more lines are too long
@@ -169,6 +169,13 @@ services:
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# `replay_runner` fixture trips that gate without this line.
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BUILD_CSV_REPLAY_ADAPTER: "ON"
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BUILD_FAISS_INDEX: "ON"
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# AZ-964: build_inference_runtime gates pytorch_fp16 behind
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# this flag. The dustynv/l4t-pytorch base image bakes the
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# Tegra-tuned PyTorch wheel, so the strategy module imports
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# cleanly when the flag is ON. build_engine_compiler (called
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# by the AZ-839 fixture) requires c7 inference runtime, so
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# the flag must be ON for the orchestrator test to run.
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BUILD_PYTORCH_FP16_RUNTIME: "ON"
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# AZ-962: the AZ-839 C3 fixture (operator_pre_flight_setup) skips
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# the AZ-840 orchestrator test when this var is missing. The YAML
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# bind-mounted at /opt/configs/operator_replay.yaml declares the
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@@ -2,7 +2,9 @@
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"""Create a minimal valid FAISS HNSW32 + IndexIDMap2 fixture for the test harness.
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Used by the `tile-init` init service in docker-compose.test.jetson.yml.
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Writes three files to /var/lib/gps-denied/tiles/:
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Writes three files to /var/lib/gps-denied/tiles/ via the shared
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`tests.e2e.replay._faiss_seed.seed_empty_faiss_index` helper (AZ-964):
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descriptor.index — empty HNSW32 dim=512 binary
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descriptor.index.sha256 — sha256 sidecar (matches FaissDescriptorIndex._load)
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descriptor.index.meta.json — metadata (descriptor_dim, hnsw_params.metric, ...)
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@@ -12,50 +14,29 @@ Running this twice is idempotent (overwrites the previous fixture).
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from __future__ import annotations
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import hashlib
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import json
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from datetime import datetime, timezone
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import sys
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from pathlib import Path
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import faiss # type: ignore[import-untyped]
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# Make the repo root importable so `tests.e2e.replay._faiss_seed` resolves
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# when this script runs in the `tile-init` compose service (which mounts
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# the repo at /opt/project but doesn't add it to PYTHONPATH).
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_REPO_ROOT = Path(__file__).resolve().parent.parent
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if str(_REPO_ROOT) not in sys.path:
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sys.path.insert(0, str(_REPO_ROOT))
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DESCRIPTOR_DIM = 512
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HNSW_M = 32
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from tests.e2e.replay._faiss_seed import seed_empty_faiss_index # noqa: E402
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root = Path("/var/lib/gps-denied/tiles")
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root.mkdir(parents=True, exist_ok=True)
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inner = faiss.IndexHNSWFlat(DESCRIPTOR_DIM, HNSW_M, faiss.METRIC_INNER_PRODUCT)
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index = faiss.IndexIDMap2(inner)
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def main() -> int:
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idx_path = seed_empty_faiss_index(Path("/var/lib/gps-denied/tiles"))
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sha256_path = idx_path.parent / (idx_path.name + ".sha256")
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sha256 = sha256_path.read_text(encoding="ascii").strip()
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print(
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f"[tile-init] OK: empty HNSW32 index at {idx_path} "
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f"sha256={sha256[:16]}..."
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)
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return 0
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idx_path = root / "descriptor.index"
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faiss.write_index(index, str(idx_path))
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idx_bytes = idx_path.read_bytes()
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sha256 = hashlib.sha256(idx_bytes).hexdigest()
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(idx_path.parent / (idx_path.name + ".sha256")).write_text(sha256, encoding="ascii")
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meta = {
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"descriptor_dim": DESCRIPTOR_DIM,
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"n_vectors": 0,
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"backbone_label": "ultra_vpr",
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"backbone_sha256_hex": "0" * 64,
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"built_at": datetime.now(timezone.utc).isoformat(),
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"hnsw_params": {
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"m": HNSW_M,
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"ef_construction": 40,
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"ef_search": 16,
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"metric": "INNER_PRODUCT",
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},
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"sidecar_sha256_hex": sha256,
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"file_path": str(idx_path),
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"id_mapping": [],
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}
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(idx_path.parent / (idx_path.name + ".meta.json")).write_text(
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json.dumps(meta, sort_keys=True, indent=2), encoding="utf-8"
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)
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print(
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f"[tile-init] OK: empty HNSW32 dim={DESCRIPTOR_DIM} index "
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f"at {idx_path} sha256={sha256[:16]}..."
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)
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if __name__ == "__main__":
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sys.exit(main())
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@@ -0,0 +1,87 @@
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"""AZ-964 — seed a minimal empty HNSW32 + IndexIDMap2 FAISS index fixture.
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Shared by:
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* `scripts/mk_test_faiss_fixture.py` — invoked by the `tile-init`
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setup service in `docker-compose.test.jetson.yml`.
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* `tests/e2e/replay/conftest.py::_build_operator_pre_flight_cache`
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— the AZ-839 C3 fixture, which creates a fresh tmp `root_dir` per
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test and needs an empty index there before `build_descriptor_index`
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can call `FaissDescriptorIndex._load()` without raising
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`IndexUnavailableError`.
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The seed produces three files under ``root_dir``:
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* ``descriptor.index`` — HNSW32 / IndexIDMap2 binary
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* ``descriptor.index.sha256`` — sha256 sidecar (verified by ``_load``)
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* ``descriptor.index.meta.json`` — metadata with matching
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``sidecar_sha256_hex`` (cross-checked by ``_load``)
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The default ``descriptor_dim=512`` + ``backbone_label="ultra_vpr"``
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mirror the prior in-script defaults; callers can override when seeding
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for a NetVLAD (4096) or DINOv2-VPR run (AZ-965 territory).
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"""
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from __future__ import annotations
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import hashlib
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import json
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from datetime import datetime, timezone
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from pathlib import Path
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import faiss # type: ignore[import-untyped]
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__all__ = ["seed_empty_faiss_index"]
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_HNSW_M = 32
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_EF_CONSTRUCTION = 40
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_EF_SEARCH = 16
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def seed_empty_faiss_index(
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root_dir: Path,
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*,
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descriptor_dim: int = 512,
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backbone_label: str = "ultra_vpr",
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) -> Path:
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"""Create an empty valid HNSW32 FAISS index at ``root_dir/descriptor.index``.
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Idempotent — re-running overwrites the prior fixture. Returns the
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path to the written ``.index`` file.
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"""
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root_dir.mkdir(parents=True, exist_ok=True)
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inner = faiss.IndexHNSWFlat(descriptor_dim, _HNSW_M, faiss.METRIC_INNER_PRODUCT)
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index = faiss.IndexIDMap2(inner)
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idx_path = root_dir / "descriptor.index"
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faiss.write_index(index, str(idx_path))
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idx_bytes = idx_path.read_bytes()
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sha256 = hashlib.sha256(idx_bytes).hexdigest()
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(idx_path.parent / (idx_path.name + ".sha256")).write_text(
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sha256, encoding="ascii"
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)
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meta = {
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"descriptor_dim": descriptor_dim,
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"n_vectors": 0,
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"backbone_label": backbone_label,
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"backbone_sha256_hex": "0" * 64,
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"built_at": datetime.now(timezone.utc).isoformat(),
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"hnsw_params": {
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"m": _HNSW_M,
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"ef_construction": _EF_CONSTRUCTION,
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"ef_search": _EF_SEARCH,
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"metric": "INNER_PRODUCT",
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},
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"sidecar_sha256_hex": sha256,
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"file_path": str(idx_path),
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"id_mapping": [],
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}
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(idx_path.parent / (idx_path.name + ".meta.json")).write_text(
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json.dumps(meta, sort_keys=True, indent=2), encoding="utf-8"
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)
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return idx_path
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@@ -484,6 +484,14 @@ def _build_operator_pre_flight_cache(
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tile_store = build_tile_store(config)
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tile_metadata_store = build_tile_metadata_store(config)
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# AZ-964: FaissDescriptorIndex._load() requires the .index +
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# .sha256 + .meta.json triplet to exist on disk before the factory
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# returns. populate_c6_from_route (below) builds the real index
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# once route tiles are downloaded; until then, seed an empty
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# HNSW32 fixture so the factory call succeeds.
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from tests.e2e.replay._faiss_seed import seed_empty_faiss_index
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seed_empty_faiss_index(cache_root)
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descriptor_index = build_descriptor_index(config)
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httpx_client = httpx.Client(
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