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[AZ-388] C5 AC-5.2 no-estimate fallback detector + signal emission

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Implements Invariant 9 / AC-5.2: when current_estimate cannot return a
fresh output for >= state.no_estimate_fallback_s (default 3.0 s), emit
ONE engagement signal (FDR kind=c5.state.no_estimate_fallback_engaged
+ GCS STATUSTEXT severity CRITICAL); on recovery, ONE recovery signal
(FDR kind=c5.state.no_estimate_fallback_recovered + STATUSTEXT NOTICE).
Rate-limited via single _in_fallback latch (AC-2: 30 s sustained
no-estimate still emits exactly one engagement).

New FallbackWatcher class owns the state machine; estimator wires it
through constructor + current_estimate entry/success hooks. Public
check_fallback_state(now_ns) watchdog (NFR p99 <= 5 us) + subscribe
APIs let C8 outbound react without coupling C5 to a concrete GCS
adapter at construction. Severity enum extended with CRITICAL=2 and
NOTICE=5 to match MAVLink MAV_SEVERITY.

18 new unit tests across all 8 ACs, deterministic synthetic clock,
integration tests patch monotonic_ns through GtsamIsam2StateEstimator
to drive AC-7 iSAM2 leg (ESKF leg deferred to AZ-386).

Full suite: 607 passed, 2 skipped.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-11 06:53:22 +03:00
parent b3ad94c155
commit 31a300f8a2
7 changed files with 826 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/gps_denied_onboard/_types/fc.py
+12 -3
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@@ -70,11 +70,20 @@ class GpsStatus(Enum):
class Severity(Enum):
"""STATUSTEXT severity; values mirror MAVLink ``MAV_SEVERITY``."""
"""STATUSTEXT severity; values mirror MAVLink ``MAV_SEVERITY``.
INFO = 6
WARNING = 4
Aligned with MAVLink's ``MAV_SEVERITY`` integer constants:
``EMERGENCY=0``, ``ALERT=1``, ``CRITICAL=2``, ``ERROR=3``,
``WARNING=4``, ``NOTICE=5``, ``INFO=6``, ``DEBUG=7``. AZ-388
(AC-5.2 fallback) requires ``CRITICAL`` and ``NOTICE`` for
engagement/recovery STATUSTEXT severities.
"""
CRITICAL = 2
ERROR = 3
WARNING = 4
NOTICE = 5
INFO = 6
class TelemetryKind(Enum):
src/gps_denied_onboard/components/c5_state/_fallback_watcher.py
+276
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@@ -0,0 +1,276 @@
"""AC-5.2 no-estimate fallback detector for C5 state estimators (AZ-388).
Shared between :class:`GtsamIsam2StateEstimator` (AZ-382/383/384) and
the upcoming :class:`EskfStateEstimator` (AZ-386). Both estimators
compose one watcher per instance; the watcher owns:
- A monotonic timestamp of the last successful ``current_estimate``.
- A latched ``_in_fallback`` flag (engaged on threshold breach;
cleared on the next successful estimate).
- FDR record emission on engagement (``c5.state.no_estimate_fallback_engaged``)
and recovery (``c5.state.no_estimate_fallback_recovered``).
- Subscriber lists for engagement / recovery callbacks (the
composition root wires C8's :class:`QgcTelemetryAdapter` here so
the GCS STATUSTEXT is dispatched on the C8 outbound thread, not
the C5 ingest thread).
Per the C5 contract Invariant 9: when ``current_estimate`` cannot
produce a fresh output for ≥ ``no_estimate_fallback_s`` (default
3.0 s, configurable per :class:`C5StateConfig`), C8 outbound switches
to FC IMU-only emission. AZ-388 only emits the signal; AZ-261 owns
the actual IMU-only emission path.
Rate-limiting: ONE engagement signal per fallback engagement (no
spam under sustained no-estimate); ONE recovery signal per recovery.
The flag is the rate-limiter — the moment it's set, further
``check_and_engage`` calls return early without re-firing.
Single-writer thread (Invariant 1): the C5 ingest thread calls
``mark_successful_estimate`` + ``check_and_engage`` from inside
``current_estimate``; the C8 outbound 5 Hz tick handler calls
``check_and_engage`` on the C8 outbound thread for the external
watchdog AC-4 path. Both paths read/write the same fields, so the
watcher takes an explicit ``threading.Lock`` around the state
transitions.
"""
from __future__ import annotations
import threading
import time
from collections.abc import Callable
from datetime import datetime, timezone
from typing import TYPE_CHECKING, Final, Protocol, runtime_checkable
from gps_denied_onboard._types.fc import Severity
from gps_denied_onboard.fdr_client.records import FdrRecord
from gps_denied_onboard.logging import get_logger
if TYPE_CHECKING:
from gps_denied_onboard.fdr_client.client import FdrClient
__all__ = [
"FallbackEngagementCallback",
"FallbackRecoveryCallback",
"FallbackSubscription",
"FallbackWatcher",
]
# Public callback signatures. The first parameter is the elapsed
# seconds since the last successful estimate (engagement) or the
# duration of the fallback episode just closed (recovery). The
# second parameter is the canonical MAVLink-aligned severity hint
# the composition root uses when forwarding to GCS STATUSTEXT.
FallbackEngagementCallback = Callable[[float, Severity], None]
FallbackRecoveryCallback = Callable[[float, Severity], None]
# Per the task spec AC-5: engagement = CRITICAL; recovery = NOTICE.
_ENGAGEMENT_SEVERITY: Final[Severity] = Severity.CRITICAL
_RECOVERY_SEVERITY: Final[Severity] = Severity.NOTICE
@runtime_checkable
class FallbackSubscription(Protocol):
"""Handle returned by :meth:`FallbackWatcher.subscribe_engaged` etc.
Calling :meth:`cancel` removes the callback from the next
state-transition dispatch. Subsequent cancels are no-ops.
"""
def cancel(self) -> None: ...
class _Subscription:
def __init__(self, registry: dict[int, Callable], sub_id: int, lock: threading.Lock) -> None:
self._registry = registry
self._sub_id = sub_id
self._lock = lock
def cancel(self) -> None:
with self._lock:
self._registry.pop(self._sub_id, None)
class FallbackWatcher:
"""AC-5.2 fallback detector. One instance per C5 estimator.
Construction stamps ``_last_successful_estimate_ns`` with the
current ``clock_ns()`` so a freshly-built estimator doesn't
engage fallback on its first ``check_and_engage`` call — the
threshold has to elapse first.
"""
def __init__(
self,
*,
threshold_s: float,
fdr_client: FdrClient | None,
producer_id: str = "c5_state",
clock_ns: Callable[[], int] = time.monotonic_ns,
) -> None:
if threshold_s <= 0.0:
raise ValueError(f"FallbackWatcher.threshold_s must be > 0; got {threshold_s}")
self._threshold_ns: int = int(threshold_s * 1_000_000_000)
self._fdr_client: FdrClient | None = fdr_client
self._producer_id: str = producer_id
self._clock_ns: Callable[[], int] = clock_ns
self._log = get_logger("c5_state.fallback_watcher")
self._lock = threading.Lock()
self._last_successful_estimate_ns: int = clock_ns()
self._engagement_ns: int = 0
self._in_fallback: bool = False
# Subscriber registries — separate so a recovery-only
# subscriber (e.g. C8 STATUSTEXT) doesn't have to filter.
self._engaged_subs: dict[int, FallbackEngagementCallback] = {}
self._recovered_subs: dict[int, FallbackRecoveryCallback] = {}
self._next_sub_id: int = 1
@property
def threshold_s(self) -> float:
return self._threshold_ns / 1_000_000_000
@property
def in_fallback(self) -> bool:
with self._lock:
return self._in_fallback
def mark_successful_estimate(self, now_ns: int) -> None:
"""Record a successful ``current_estimate`` at ``now_ns``.
If the watcher was previously engaged, fires the recovery
signal exactly once before clearing the flag.
"""
with self._lock:
self._last_successful_estimate_ns = now_ns
if not self._in_fallback:
return
elapsed_s = (now_ns - self._engagement_ns) / 1_000_000_000
self._in_fallback = False
recovered_subs = list(self._recovered_subs.values())
# Fire OUTSIDE the lock — callbacks may take time / call
# back into the watcher.
self._emit_recovery_fdr(elapsed_s)
self._log.info(
"c5.state.no_estimate_fallback_recovered",
extra={
"kind": "c5.state.no_estimate_fallback_recovered",
"kv": {"recovered_after_s": elapsed_s},
},
)
for cb in recovered_subs:
try:
cb(elapsed_s, _RECOVERY_SEVERITY)
except Exception as exc:
self._log.debug(
"c5.state.fallback_recovered_callback_failed",
extra={
"kind": "c5.state.fallback_recovered_callback_failed",
"kv": {"error": repr(exc)},
},
)
def check_and_engage(self, now_ns: int) -> bool:
"""Idempotent watchdog: engage if threshold exceeded; return state.
Both the C5 ingest thread (from inside ``current_estimate``)
and the C8 outbound 5 Hz tick handler (the AC-4 watchdog)
call this; the rate-limit ensures the engagement signal
fires at most once per fallback episode regardless of who
wins the race.
"""
with self._lock:
if self._in_fallback:
return True
elapsed_ns = now_ns - self._last_successful_estimate_ns
if elapsed_ns < self._threshold_ns:
return False
elapsed_s = elapsed_ns / 1_000_000_000
self._in_fallback = True
self._engagement_ns = now_ns
engaged_subs = list(self._engaged_subs.values())
self._emit_engagement_fdr(elapsed_s)
self._log.warning(
"c5.state.no_estimate_fallback_engaged",
extra={
"kind": "c5.state.no_estimate_fallback_engaged",
"kv": {
"reason": "no_successful_estimate_for_s",
"elapsed_s": elapsed_s,
"threshold_s": self.threshold_s,
},
},
)
for cb in engaged_subs:
try:
cb(elapsed_s, _ENGAGEMENT_SEVERITY)
except Exception as exc:
self._log.debug(
"c5.state.fallback_engaged_callback_failed",
extra={
"kind": "c5.state.fallback_engaged_callback_failed",
"kv": {"error": repr(exc)},
},
)
return True
def subscribe_engaged(self, callback: FallbackEngagementCallback) -> FallbackSubscription:
"""Register a callback invoked exactly once per engagement."""
with self._lock:
sub_id = self._next_sub_id
self._next_sub_id += 1
self._engaged_subs[sub_id] = callback
return _Subscription(self._engaged_subs, sub_id, self._lock)
def subscribe_recovered(self, callback: FallbackRecoveryCallback) -> FallbackSubscription:
"""Register a callback invoked exactly once per recovery."""
with self._lock:
sub_id = self._next_sub_id
self._next_sub_id += 1
self._recovered_subs[sub_id] = callback
return _Subscription(self._recovered_subs, sub_id, self._lock)
def _emit_engagement_fdr(self, elapsed_s: float) -> None:
if self._fdr_client is None:
return
record = FdrRecord(
schema_version=1,
ts=datetime.now(tz=timezone.utc).isoformat(),
producer_id=self._producer_id,
kind="c5.state.no_estimate_fallback_engaged",
payload={
"reason": "no_successful_estimate_for_s",
"elapsed_s": elapsed_s,
"threshold_s": self.threshold_s,
},
)
self._safe_enqueue(record)
def _emit_recovery_fdr(self, elapsed_s: float) -> None:
if self._fdr_client is None:
return
record = FdrRecord(
schema_version=1,
ts=datetime.now(tz=timezone.utc).isoformat(),
producer_id=self._producer_id,
kind="c5.state.no_estimate_fallback_recovered",
payload={"recovered_after_s": elapsed_s},
)
self._safe_enqueue(record)
def _safe_enqueue(self, record: FdrRecord) -> None:
try:
self._fdr_client.enqueue(record) # type: ignore[union-attr]
except Exception as exc:
self._log.debug(
"c5.state.fallback_fdr_enqueue_failed",
extra={
"kind": "c5.state.fallback_fdr_enqueue_failed",
"kv": {"error": repr(exc)},
},
)
src/gps_denied_onboard/components/c5_state/gtsam_isam2_estimator.py
+62
View File
@@ -48,6 +48,12 @@ from gps_denied_onboard._types.state import (
PoseSourceLabel,
Quat,
)
from gps_denied_onboard.components.c5_state._fallback_watcher import (
FallbackEngagementCallback,
FallbackRecoveryCallback,
FallbackSubscription,
FallbackWatcher,
)
from gps_denied_onboard.components.c5_state._isam2_handle import (
ISam2GraphHandle,
ISam2GraphHandleImpl,
@@ -202,6 +208,20 @@ class GtsamIsam2StateEstimator(StateEstimator):
# ``LOST`` on a fatal SPD failure or GTSAM exception.
self._isam2_state: IsamState = IsamState.INIT
# AZ-388 state -----------------------------------------------------
# AC-5.2 fallback watcher — engages when ``current_estimate``
# cannot produce a fresh output for ``no_estimate_fallback_s``
# (default 3.0 s). Composition root subscribes the C8 GCS
# adapter via :meth:`subscribe_fallback_engaged` /
# :meth:`subscribe_fallback_recovered` so the STATUSTEXT
# mirror fires on the C8 outbound thread, not the C5 ingest
# thread.
self._fallback = FallbackWatcher(
threshold_s=block.no_estimate_fallback_s,
fdr_client=fdr_client,
producer_id="c5_state",
)
self._log.debug(
"c5.state.isam2_initialised",
extra={
@@ -258,6 +278,40 @@ class GtsamIsam2StateEstimator(StateEstimator):
"""
self._source_label_machine = machine
# ------------------------------------------------------------------
# AZ-388: AC-5.2 fallback public API.
def check_fallback_state(self, now_ns: int) -> bool:
"""Idempotent AC-5.2 watchdog.
C8 outbound's 5 Hz tick handler calls this so the FC IMU-only
switch fires even when ``current_estimate`` isn't being
called (e.g. the C5 ingest thread is starved). Returns the
current ``_in_fallback`` state; engages if the threshold has
elapsed and was previously idle. Rate-limited — at most one
engagement signal per episode.
"""
return self._fallback.check_and_engage(now_ns)
def subscribe_fallback_engaged(
self, callback: FallbackEngagementCallback
) -> FallbackSubscription:
"""Register a callback fired exactly once per fallback engagement.
Composition root binds the C8 GCS adapter's STATUSTEXT here
with the ``CRITICAL`` severity per AC-5; the callback fires
on the same thread that won the engagement race (so the
composition root MUST forward to the C8 outbound thread via
a queue to honour Invariant 8).
"""
return self._fallback.subscribe_engaged(callback)
def subscribe_fallback_recovered(
self, callback: FallbackRecoveryCallback
) -> FallbackSubscription:
"""Register a callback fired exactly once per fallback recovery."""
return self._fallback.subscribe_recovered(callback)
def key_for_frame(self, frame_id: UUID | int) -> int:
"""Return the GTSAM ``Key`` for ``frame_id``, assigning on first use.
@@ -553,6 +607,10 @@ class GtsamIsam2StateEstimator(StateEstimator):
path).
"""
handle = self._require_handle()
# AZ-388: AC-5.2 entry hook. Engages fallback if the
# threshold has elapsed since the last successful estimate.
# Idempotent / rate-limited.
self._fallback.check_and_engage(time.monotonic_ns())
if self._last_committed_pose_key is None:
raise EstimatorFatalError(
"current_estimate: no committed pose key yet (graph empty); "
@@ -615,6 +673,10 @@ class GtsamIsam2StateEstimator(StateEstimator):
# only the SPD failure above flips us to LOST.
self._isam2_state = IsamState.DEGRADED
# AZ-388: AC-5.2 success hook. Resets the dwell timer and
# fires the recovery signal if we were previously engaged.
self._fallback.mark_successful_estimate(emitted_at)
return EstimatorOutput(
frame_id=uuid4(),
position_wgs84=position_wgs84,