From 4f10fd230f4c005376bc6850a24a90b549e688e5 Mon Sep 17 00:00:00 2001 From: Oleksandr Bezdieniezhnykh Date: Thu, 14 May 2026 20:14:47 +0300 Subject: [PATCH] [AZ-559] [AZ-389] docs: defer AZ-389 to AZ-559 (C6 mid-flight tile gap) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit AZ-389's task spec assumed the existence of `tile_store.put_mid_flight_ candidate(MidFlightTileCandidate)` (in Excluded: "owned by AZ-303 / E-C6"), but the current TileStore Protocol has only the four-method baseline shipped under AZ-303 — there is no put_mid_flight_candidate, no MidFlightTileCandidate DTO, and no MID_FLIGHT_INGEST TileSource enum value. Filed AZ-559 as a 5pt task to close the C6 storage gap (Protocol method + DTO + enum + persistence + freshness/LRU integration + contract update). Updated AZ-389 spec to depend on AZ-559 (replacing the stale AZ-303 dep) with a Status: BLOCKED note. Updated the dependencies table totals: 151 tasks / 502 complexity points. This is the same dep-gap pattern surfaced for AZ-401 in batch 61 (missing AZ-400 transport-seam retrofit) — the autodev replay-track sequence is exposing under-spec deliveries upstream. Tracker remains the source of truth via the new AZ-559 issue + Blocks link. Co-authored-by: Cursor --- _docs/02_tasks/_dependencies_table.md | 9 +++++---- _docs/02_tasks/todo/AZ-389_c5_orthorectifier_c6.md | 3 ++- _docs/_autodev_state.md | 2 +- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/_docs/02_tasks/_dependencies_table.md b/_docs/02_tasks/_dependencies_table.md index 0f46c2d..e0e69ae 100644 --- a/_docs/02_tasks/_dependencies_table.md +++ b/_docs/02_tasks/_dependencies_table.md @@ -1,8 +1,8 @@ # Dependencies Table -**Date**: 2026-05-14 (refreshed after Batch 61: AZ-558 follow-up added — routes C8 outbound encoder bytes through `MavlinkTransport` seam; closes AZ-401 AC-9 deferred during batch 61 due to encoder-side routing not being in the AZ-401 task envelope; earlier same-day after cumulative review batches 52-54: AZ-528 hygiene PBI added for c1_vio strategy facade orchestration-spine 3-way duplication (Medium); earlier same-day after Batch 53: AZ-333 VINS-Mono landed — first c1_vio strategy after the AZ-332 OKVIS2 production-default; consolidation hygiene for the strategy-facade duplication deferred to a post-AZ-334 PBI; earlier same-day after Batch 51: AZ-527 hygiene PBI added from cumulative review batches 49-51 F1; 2026-05-13: AZ-526 hygiene PBI added from cumulative review batches 46-48 F1+F3; same-day refresh after Batch 44 SRP refactor: AZ-317 superseded; AZ-329 + AZ-330 specs rewritten; AZ-523 + AZ-524 audit-trail tickets added; E-C12 epic renamed `Operator Pre-flight Tooling` → `Operator Pre-flight Orchestrator`; earlier same-day refresh: AZ-507 + AZ-508 hygiene PBIs from cumulative review batches 31-33; 2026-05-11: AZ-489 + AZ-490 ADR-010 operator-origin path) -**Total Tasks**: 150 (109 product + 41 blackbox-test) — AZ-317 retained in the table marked SUPERSEDED for audit; AZ-523 (C11 gate removal) + AZ-524 (C12 rename) added as 2 closed audit-trail tasks; AZ-526 = 2pt clock-helper hygiene; AZ-527 = 2pt c2 engine-dim helper hygiene; AZ-528 = 3pt c1_vio facade-spine hygiene; AZ-558 = 3pt MavlinkTransport routing follow-up -**Total Complexity Points**: 497 (364 product + 133 blackbox-test) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt, AZ-558 = 3pt +**Date**: 2026-05-14 (refreshed at start of Batch 63: AZ-559 added — C6 mid-flight tile storage extension; unblocks AZ-389 (orthorectifier had a hard dep gap on a `put_mid_flight_candidate` API that AZ-303 never delivered); AZ-389 deferred and re-blocked on AZ-559; earlier same-day after Batch 61: AZ-558 follow-up added — routes C8 outbound encoder bytes through `MavlinkTransport` seam; closes AZ-401 AC-9 deferred during batch 61 due to encoder-side routing not being in the AZ-401 task envelope; earlier same-day after cumulative review batches 52-54: AZ-528 hygiene PBI added for c1_vio strategy facade orchestration-spine 3-way duplication (Medium); earlier same-day after Batch 53: AZ-333 VINS-Mono landed — first c1_vio strategy after the AZ-332 OKVIS2 production-default; consolidation hygiene for the strategy-facade duplication deferred to a post-AZ-334 PBI; earlier same-day after Batch 51: AZ-527 hygiene PBI added from cumulative review batches 49-51 F1; 2026-05-13: AZ-526 hygiene PBI added from cumulative review batches 46-48 F1+F3; same-day refresh after Batch 44 SRP refactor: AZ-317 superseded; AZ-329 + AZ-330 specs rewritten; AZ-523 + AZ-524 audit-trail tickets added; E-C12 epic renamed `Operator Pre-flight Tooling` → `Operator Pre-flight Orchestrator`; earlier same-day refresh: AZ-507 + AZ-508 hygiene PBIs from cumulative review batches 31-33; 2026-05-11: AZ-489 + AZ-490 ADR-010 operator-origin path) +**Total Tasks**: 151 (110 product + 41 blackbox-test) — AZ-317 retained in the table marked SUPERSEDED for audit; AZ-523 (C11 gate removal) + AZ-524 (C12 rename) added as 2 closed audit-trail tasks; AZ-526 = 2pt clock-helper hygiene; AZ-527 = 2pt c2 engine-dim helper hygiene; AZ-528 = 3pt c1_vio facade-spine hygiene; AZ-558 = 3pt MavlinkTransport routing follow-up; AZ-559 = 5pt C6 mid-flight tile storage extension +**Total Complexity Points**: 502 (369 product + 133 blackbox-test) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt, AZ-558 = 3pt, AZ-559 = 5pt Dependencies columns list only the tracker-ID portion (descriptive tail text in each task spec is omitted here for table-readability). The @@ -96,7 +96,7 @@ are all declared and documented below under **Cycle Check**. | AZ-386 | C5 EskfStateEstimator — mandatory simple-baseline | 5 | AZ-381, AZ-276, AZ-277, AZ-279, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 | | AZ-387 | C5 smoothed past-keyframe → FDR path (AC-4.5 revised) | 3 | AZ-384, AZ-386, AZ-273, AZ-272, AZ-263, AZ-269, AZ-266 | AZ-260 | | AZ-388 | C5 AC-5.2 fallback path — 3 s no-estimate detector + downstream signal | 3 | AZ-384, AZ-386, AZ-273, AZ-272, AZ-390, AZ-397, AZ-263, AZ-269, AZ-266 | AZ-260 | -| AZ-389 | C5 internal orthorectifier — produces mid-flight tile candidates for C6 | 3 | AZ-384, AZ-385, AZ-303, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 | +| AZ-389 | C5 internal orthorectifier — produces mid-flight tile candidates for C6 (BLOCKED on AZ-559) | 3 | AZ-384, AZ-385, AZ-559, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 | | AZ-390 | C8 FcAdapter + GcsAdapter Protocols + DTOs + errors + composition factories | 3 | AZ-263, AZ-269, AZ-270, AZ-273, AZ-277, AZ-279, AZ-266 | AZ-261 | | AZ-391 | C8 inbound subscription — IMU/attitude/GPS-health/MAV_STATE producer | 5 | AZ-390, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273, AZ-276 | AZ-261 | | AZ-392 | C8 CovarianceProjector — honest 6×6 → 2×2 → equivalent_radius helper | 3 | AZ-390, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-261 | @@ -114,6 +114,7 @@ are all declared and documented below under **Cycle Check**. | AZ-404 | E2E replay fixture test — Derkachi 1–2 min clip + mode-agnosticism + operator workflow | 5 | AZ-402, AZ-401, AZ-405, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273 | AZ-265 | | AZ-405 | replay_input/ coordinator + auto-sync of video ↔ tlog via IMU take-off detection | 5 | AZ-399, AZ-398, AZ-263, AZ-269, AZ-266, AZ-272, AZ-279 | AZ-265 | | AZ-558 | Route C8 outbound encoder bytes through MavlinkTransport seam (closes AZ-401 AC-9) | 3 | AZ-401, AZ-273, AZ-294, AZ-399 | AZ-265 | +| AZ-559 | C6 mid-flight tile storage extension — put_mid_flight_candidate Protocol + DTO + persistence | 5 | AZ-303, AZ-308, AZ-310, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-260 | | AZ-406 | Blackbox Test Infrastructure Bootstrap (Tier-1 + Tier-2 harness scaffold) | 5 | AZ-263 | AZ-262 | | AZ-407 | Static fixture builders — tile-cache, age-injector, cold-boot, MAVLink passkey, CVE JPEG | 3 | AZ-406 | AZ-262 | | AZ-408 | Runtime synthetic-injection fixture builders — outlier, blackout-spoof, multi-segment | 3 | AZ-406, AZ-407 | AZ-262 | diff --git a/_docs/02_tasks/todo/AZ-389_c5_orthorectifier_c6.md b/_docs/02_tasks/todo/AZ-389_c5_orthorectifier_c6.md index e4b1b5b..b8edf63 100644 --- a/_docs/02_tasks/todo/AZ-389_c5_orthorectifier_c6.md +++ b/_docs/02_tasks/todo/AZ-389_c5_orthorectifier_c6.md @@ -4,7 +4,8 @@ **Name**: C5 internal orthorectifier — produces mid-flight tile candidates for C6 **Description**: Implement the orthorectifier sub-path inside C5: when a frame has converged in the iSAM2 graph (≥1 satellite anchor + visual consistency), apply the camera intrinsics + extrinsics + the C5-known pose to orthorectify the nav-camera frame into a tile-aligned image patch; emit a `MidFlightTileCandidate(tile_id, pixels, quality_metadata, source_pose)` to C6 (via the storage interface AZ-303 `tile_store.put_mid_flight_candidate(...)`). Quality metadata: `inlier_count`, `cov_norm`, `pose_age_ms`. The orthorectifier is C5-internal (per epic spec § Scope: "orthorectifier (lives within C5 as an internal subcomponent)"); it consumes the converged pose + nav frame from a per-frame buffer; it emits at most ONE candidate per frame (gated by quality thresholds: `cov_norm < threshold` AND `inlier_count > floor`). Triggered after a successful `current_estimate()` call when quality conditions hold. **Complexity**: 3 points -**Dependencies**: AZ-384 (`current_estimate` body + cov norm), AZ-385 (only emit candidates when source_label == SATELLITE_ANCHORED), AZ-303 (`TileStore.put_mid_flight_candidate`), AZ-263, AZ-269, AZ-266, AZ-272 (FDR) +**Dependencies**: AZ-384 (`current_estimate` body + cov norm), AZ-385 (only emit candidates when source_label == SATELLITE_ANCHORED), AZ-559 (`TileStore.put_mid_flight_candidate` Protocol method + `MidFlightTileCandidate` DTO + persistence — AZ-303 shipped under-spec, AZ-559 closes the gap), AZ-263, AZ-269, AZ-266, AZ-272 (FDR) +**Status**: BLOCKED on AZ-559 (storage extension). Dependency-gap surfaced during batch 63 of the autodev replay-track sequence; original spec assumed AZ-303 had delivered the mid-flight tile API but it had not. **Component**: c5_state (epic AZ-260 / E-C5) **Tracker**: AZ-389 **Epic**: AZ-260 (E-C5) diff --git a/_docs/_autodev_state.md b/_docs/_autodev_state.md index 0e843e3..3509813 100644 --- a/_docs/_autodev_state.md +++ b/_docs/_autodev_state.md @@ -15,4 +15,4 @@ tracker: jira last_completed_batch: 62 last_cumulative_review: batches_58-60 current_batch: 63 -current_batch_tasks: "" +current_batch_tasks: "AZ-389"