[AZ-398] Clear remaining test-suite failures + warnings

route_client: route Tier-2 sleep through WallClock.sleep_until_ns
instead of bare time.sleep, fixing the AZ-398 AC-4 components-have-no-
direct-time meta-test failure.

helpers/__init__: lazy-load the heavy descriptor / wgs / image
modules via PEP 562 __getattr__ to fix the cold-start NFR regression
(test_cold_start_under_1000ms_p99 was 1409ms p99; lazy imports drop it
to ~210ms).

pyproject filterwarnings: silence the three upstream SwigPy*
DeprecationWarnings emitted by faiss-cpu / gtsam at import time. They
are an upstream SWIG-binding-layer issue and cannot be fixed from our
code. Suppression is scoped to the three exact messages.

State: batch-3 of cycle-4 closed; cumulative-review marker bumped.
Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/_autodev_state.md

@@ -6,9 +6,9 @@ step: 10
 name: Implement
 status: in_progress
 sub_step:
-  phase: 7
-  name: batch-loop
-  detail: "batch 3 of 4 — AZ-895"
+  phase: 8
+  name: cumulative-review
+  detail: "batches 01-03 of cycle 4 — first cumulative review pending"
 retry_count: 0
 cycle: 4
 tracker: jira

pyproject.toml

@@ -188,6 +188,16 @@ markers = [
     "slow: tests slower than ~5s",
     "contract: contract-suite test (frozen public surfaces)",
 ]
+# Silence the three boot-time DeprecationWarnings emitted by the SWIG
+# binding layer used by faiss-cpu (and gtsam on Linux). They surface as
+# `<frozen importlib._bootstrap>:241` "builtin type SwigPy* has no
+# __module__ attribute" and are an upstream issue we cannot fix from
+# our code — they appear whenever any SWIG-bound C extension is imported.
+filterwarnings = [
+    "ignore:builtin type SwigPyPacked has no __module__ attribute:DeprecationWarning",
+    "ignore:builtin type SwigPyObject has no __module__ attribute:DeprecationWarning",
+    "ignore:builtin type swigvarlink has no __module__ attribute:DeprecationWarning",
+]
 
 [tool.coverage.run]
 source = ["src/gps_denied_onboard"]

src/gps_denied_onboard/components/c11_tile_manager/route_client.py

@@ -205,7 +205,7 @@ class SatelliteProviderRouteClient:
         self._poll_interval_s = float(poll_interval_s)
         self._poll_max_attempts = int(poll_max_attempts)
         self._injected_client = http_client
-        self._sleep = sleep if sleep is not None else time.sleep
+        self._sleep = sleep if sleep is not None else _default_sleep
         self._clock_ms = clock_ms if clock_ms is not None else _wall_clock_ms
         self._logger = logger or logging.getLogger(
             "gps_denied_onboard.components.c11_tile_manager.route_client"
@@ -792,6 +792,21 @@ def _wall_clock_ms() -> int:
     return int(time.monotonic() * 1000)
 
 
+def _default_sleep(seconds: float) -> None:
+    """Production sleep hook routes through :class:`WallClock.sleep_until_ns`.
+
+    Tests inject a no-op or a recorder via the ``sleep`` constructor
+    parameter. Routing through ``WallClock`` keeps the AZ-398 AC-4 AST
+    scan over ``components/`` from seeing a bare ``time.sleep`` — same
+    pattern used by ``tile_downloader._default_sleep``.
+    """
+
+    from gps_denied_onboard.clock.wall_clock import WallClock
+
+    clock = WallClock()
+    clock.sleep_until_ns(clock.monotonic_ns() + int(seconds * 1_000_000_000))
+
+
 def _canonical_json_bytes(body: dict[str, Any]) -> bytes:
     """Stable byte representation for the sha256 audit field.
 

src/gps_denied_onboard/helpers/__init__.py

@@ -1,124 +1,159 @@
-"""Shared utilities (E-CC-HELPERS / AZ-264).
+"""Shared utilities (E-CC-HELPERS / AZ-264) — PEP 562 lazy re-exports.
 
-Each helper has its own task (AZ-276..AZ-283). This package exposes the
-ones that have landed so consumers can depend on a stable public surface
-without reaching into the helper modules directly.
+Each helper has its own task (AZ-276..AZ-283). Public names are
+exposed via :func:`__getattr__` so importing a single submodule
+(e.g. ``from gps_denied_onboard.helpers.iso_timestamps import
+iso_ts_now``) does not eagerly pull sibling heavies (``numpy``,
+``cv2``, ``pyproj``, ``gtsam``). Cold-start critical for the C12
+operator-orchestrator CLI (NFR-perf-cold-start).
 """
 
-from gps_denied_onboard.helpers.descriptor_normaliser import (
-    ALLOWED_DTYPES,
-    DescriptorNormaliser,
-    DescriptorNormaliserError,
-)
-from gps_denied_onboard.helpers.engine_filename_schema import (
-    ALLOWED_PRECISIONS,
-    ENGINE_SUFFIX,
-    EngineFilenameSchema,
-    EngineFilenameSchemaError,
-)
-from gps_denied_onboard.helpers.accuracy_report import (
-    AC3_GATE_PCT,
-    AC3_GATE_THRESHOLD_M,
-    ReportContext,
-    format_failure_message,
-    render_report,
-    verdict_passes_ac3,
-)
-from gps_denied_onboard.helpers.gps_compare import (
-    GroundTruthRow,
-    HorizontalErrorDistribution,
-    horizontal_error_distribution,
-    l2_horizontal_m,
-    match_percentage,
-    percentile_sorted,
-)
-from gps_denied_onboard.helpers.imu_preintegrator import (
-    CombinedImuFactor,
-    ImuPreintegrationError,
-    ImuPreintegrator,
-    make_imu_preintegrator,
-)
-from gps_denied_onboard.helpers.iso_timestamps import (
-    iso_ts_from_clock,
-    iso_ts_now,
-)
-from gps_denied_onboard.helpers.lightglue_runtime import (
-    LightGlueConcurrentAccessError,
-    LightGlueRuntime,
-    LightGlueRuntimeError,
-)
-from gps_denied_onboard.helpers.ransac_filter import (
-    RansacFilter,
-    RansacFilterError,
-    RansacResult,
-)
-from gps_denied_onboard.helpers.se3_utils import (
-    SE3,
-    Se3InvalidMatrixError,
-    adjoint,
-    exp_map,
-    is_valid_rotation,
-    log_map,
-    matrix_to_se3,
-    se3_to_matrix,
-)
-from gps_denied_onboard.helpers.sha256_sidecar import (
-    SIDECAR_SUFFIX,
-    Sha256Sidecar,
-    Sha256SidecarError,
-)
-from gps_denied_onboard.helpers.wgs_converter import (
-    MAX_ZOOM,
-    WEB_MERCATOR_MAX_LAT_DEG,
-    WgsConversionError,
-    WgsConverter,
-)
+from __future__ import annotations
 
-__all__ = [
-    "AC3_GATE_PCT",
-    "AC3_GATE_THRESHOLD_M",
-    "ALLOWED_DTYPES",
-    "ALLOWED_PRECISIONS",
-    "ENGINE_SUFFIX",
-    "MAX_ZOOM",
-    "ReportContext",
-    "SE3",
-    "SIDECAR_SUFFIX",
-    "WEB_MERCATOR_MAX_LAT_DEG",
-    "CombinedImuFactor",
-    "DescriptorNormaliser",
-    "DescriptorNormaliserError",
-    "EngineFilenameSchema",
-    "EngineFilenameSchemaError",
-    "GroundTruthRow",
-    "HorizontalErrorDistribution",
-    "ImuPreintegrationError",
-    "ImuPreintegrator",
-    "LightGlueConcurrentAccessError",
-    "LightGlueRuntime",
-    "LightGlueRuntimeError",
-    "RansacFilter",
-    "RansacFilterError",
-    "RansacResult",
-    "Se3InvalidMatrixError",
-    "Sha256Sidecar",
-    "Sha256SidecarError",
-    "WgsConversionError",
-    "WgsConverter",
-    "adjoint",
-    "exp_map",
-    "format_failure_message",
-    "horizontal_error_distribution",
-    "is_valid_rotation",
-    "iso_ts_from_clock",
-    "iso_ts_now",
-    "l2_horizontal_m",
-    "log_map",
-    "match_percentage",
-    "make_imu_preintegrator",
-    "matrix_to_se3",
-    "percentile_sorted",
-    "render_report",
-    "se3_to_matrix",
-    "verdict_passes_ac3",
-]
+from typing import TYPE_CHECKING, Any
+
+if TYPE_CHECKING:
+    from gps_denied_onboard.helpers.accuracy_report import (
+        AC3_GATE_PCT,
+        AC3_GATE_THRESHOLD_M,
+        ReportContext,
+        format_failure_message,
+        render_report,
+        verdict_passes_ac3,
+    )
+    from gps_denied_onboard.helpers.descriptor_normaliser import (
+        ALLOWED_DTYPES,
+        DescriptorNormaliser,
+        DescriptorNormaliserError,
+    )
+    from gps_denied_onboard.helpers.engine_filename_schema import (
+        ALLOWED_PRECISIONS,
+        ENGINE_SUFFIX,
+        EngineFilenameSchema,
+        EngineFilenameSchemaError,
+    )
+    from gps_denied_onboard.helpers.gps_compare import (
+        GroundTruthRow,
+        HorizontalErrorDistribution,
+        horizontal_error_distribution,
+        l2_horizontal_m,
+        match_percentage,
+        percentile_sorted,
+    )
+    from gps_denied_onboard.helpers.imu_preintegrator import (
+        CombinedImuFactor,
+        ImuPreintegrationError,
+        ImuPreintegrator,
+        make_imu_preintegrator,
+    )
+    from gps_denied_onboard.helpers.iso_timestamps import (
+        iso_ts_from_clock,
+        iso_ts_now,
+    )
+    from gps_denied_onboard.helpers.lightglue_runtime import (
+        LightGlueConcurrentAccessError,
+        LightGlueRuntime,
+        LightGlueRuntimeError,
+    )
+    from gps_denied_onboard.helpers.ransac_filter import (
+        RansacFilter,
+        RansacFilterError,
+        RansacResult,
+    )
+    from gps_denied_onboard.helpers.se3_utils import (
+        SE3,
+        Se3InvalidMatrixError,
+        adjoint,
+        exp_map,
+        is_valid_rotation,
+        log_map,
+        matrix_to_se3,
+        se3_to_matrix,
+    )
+    from gps_denied_onboard.helpers.sha256_sidecar import (
+        SIDECAR_SUFFIX,
+        Sha256Sidecar,
+        Sha256SidecarError,
+    )
+    from gps_denied_onboard.helpers.wgs_converter import (
+        MAX_ZOOM,
+        WEB_MERCATOR_MAX_LAT_DEG,
+        WgsConversionError,
+        WgsConverter,
+    )
+
+# PEP 562 lazy resolution. Each entry maps a public name → (submodule, attr).
+_LAZY_NAMES: dict[str, tuple[str, str]] = {
+    # accuracy_report
+    "AC3_GATE_PCT": ("gps_denied_onboard.helpers.accuracy_report", "AC3_GATE_PCT"),
+    "AC3_GATE_THRESHOLD_M": ("gps_denied_onboard.helpers.accuracy_report", "AC3_GATE_THRESHOLD_M"),
+    "ReportContext": ("gps_denied_onboard.helpers.accuracy_report", "ReportContext"),
+    "format_failure_message": ("gps_denied_onboard.helpers.accuracy_report", "format_failure_message"),
+    "render_report": ("gps_denied_onboard.helpers.accuracy_report", "render_report"),
+    "verdict_passes_ac3": ("gps_denied_onboard.helpers.accuracy_report", "verdict_passes_ac3"),
+    # descriptor_normaliser
+    "ALLOWED_DTYPES": ("gps_denied_onboard.helpers.descriptor_normaliser", "ALLOWED_DTYPES"),
+    "DescriptorNormaliser": ("gps_denied_onboard.helpers.descriptor_normaliser", "DescriptorNormaliser"),
+    "DescriptorNormaliserError": ("gps_denied_onboard.helpers.descriptor_normaliser", "DescriptorNormaliserError"),
+    # engine_filename_schema
+    "ALLOWED_PRECISIONS": ("gps_denied_onboard.helpers.engine_filename_schema", "ALLOWED_PRECISIONS"),
+    "ENGINE_SUFFIX": ("gps_denied_onboard.helpers.engine_filename_schema", "ENGINE_SUFFIX"),
+    "EngineFilenameSchema": ("gps_denied_onboard.helpers.engine_filename_schema", "EngineFilenameSchema"),
+    "EngineFilenameSchemaError": ("gps_denied_onboard.helpers.engine_filename_schema", "EngineFilenameSchemaError"),
+    # gps_compare
+    "GroundTruthRow": ("gps_denied_onboard.helpers.gps_compare", "GroundTruthRow"),
+    "HorizontalErrorDistribution": ("gps_denied_onboard.helpers.gps_compare", "HorizontalErrorDistribution"),
+    "horizontal_error_distribution": ("gps_denied_onboard.helpers.gps_compare", "horizontal_error_distribution"),
+    "l2_horizontal_m": ("gps_denied_onboard.helpers.gps_compare", "l2_horizontal_m"),
+    "match_percentage": ("gps_denied_onboard.helpers.gps_compare", "match_percentage"),
+    "percentile_sorted": ("gps_denied_onboard.helpers.gps_compare", "percentile_sorted"),
+    # imu_preintegrator
+    "CombinedImuFactor": ("gps_denied_onboard.helpers.imu_preintegrator", "CombinedImuFactor"),
+    "ImuPreintegrationError": ("gps_denied_onboard.helpers.imu_preintegrator", "ImuPreintegrationError"),
+    "ImuPreintegrator": ("gps_denied_onboard.helpers.imu_preintegrator", "ImuPreintegrator"),
+    "make_imu_preintegrator": ("gps_denied_onboard.helpers.imu_preintegrator", "make_imu_preintegrator"),
+    # iso_timestamps
+    "iso_ts_from_clock": ("gps_denied_onboard.helpers.iso_timestamps", "iso_ts_from_clock"),
+    "iso_ts_now": ("gps_denied_onboard.helpers.iso_timestamps", "iso_ts_now"),
+    # lightglue_runtime
+    "LightGlueConcurrentAccessError": ("gps_denied_onboard.helpers.lightglue_runtime", "LightGlueConcurrentAccessError"),
+    "LightGlueRuntime": ("gps_denied_onboard.helpers.lightglue_runtime", "LightGlueRuntime"),
+    "LightGlueRuntimeError": ("gps_denied_onboard.helpers.lightglue_runtime", "LightGlueRuntimeError"),
+    # ransac_filter
+    "RansacFilter": ("gps_denied_onboard.helpers.ransac_filter", "RansacFilter"),
+    "RansacFilterError": ("gps_denied_onboard.helpers.ransac_filter", "RansacFilterError"),
+    "RansacResult": ("gps_denied_onboard.helpers.ransac_filter", "RansacResult"),
+    # se3_utils
+    "SE3": ("gps_denied_onboard.helpers.se3_utils", "SE3"),
+    "Se3InvalidMatrixError": ("gps_denied_onboard.helpers.se3_utils", "Se3InvalidMatrixError"),
+    "adjoint": ("gps_denied_onboard.helpers.se3_utils", "adjoint"),
+    "exp_map": ("gps_denied_onboard.helpers.se3_utils", "exp_map"),
+    "is_valid_rotation": ("gps_denied_onboard.helpers.se3_utils", "is_valid_rotation"),
+    "log_map": ("gps_denied_onboard.helpers.se3_utils", "log_map"),
+    "matrix_to_se3": ("gps_denied_onboard.helpers.se3_utils", "matrix_to_se3"),
+    "se3_to_matrix": ("gps_denied_onboard.helpers.se3_utils", "se3_to_matrix"),
+    # sha256_sidecar
+    "SIDECAR_SUFFIX": ("gps_denied_onboard.helpers.sha256_sidecar", "SIDECAR_SUFFIX"),
+    "Sha256Sidecar": ("gps_denied_onboard.helpers.sha256_sidecar", "Sha256Sidecar"),
+    "Sha256SidecarError": ("gps_denied_onboard.helpers.sha256_sidecar", "Sha256SidecarError"),
+    # wgs_converter
+    "MAX_ZOOM": ("gps_denied_onboard.helpers.wgs_converter", "MAX_ZOOM"),
+    "WEB_MERCATOR_MAX_LAT_DEG": ("gps_denied_onboard.helpers.wgs_converter", "WEB_MERCATOR_MAX_LAT_DEG"),
+    "WgsConversionError": ("gps_denied_onboard.helpers.wgs_converter", "WgsConversionError"),
+    "WgsConverter": ("gps_denied_onboard.helpers.wgs_converter", "WgsConverter"),
+}
+
+
+def __getattr__(name: str) -> Any:
+    target = _LAZY_NAMES.get(name)
+    if target is None:
+        raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
+    import importlib
+
+    module = importlib.import_module(target[0])
+    value = getattr(module, target[1])
+    globals()[name] = value
+    return value
+
+
+__all__ = sorted(_LAZY_NAMES.keys())