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[autodev] Step 13 partial: system-level cycle-1 doc sync

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Updates _docs/02_document/ to capture the highest-leverage
cycle-1 deltas after 97 implementation batches:

- FINAL_report.md: revise Decision 9 to reflect the actual
  opencv-python pin (>=4.11.0.86,<4.12; D-CROSS-CVE-1
  deferred per leftover); new "Cycle 1 Implementation Status"
  section documents the _STRATEGY_REGISTRY + pre_constructed
  composition-root additions (AZ-591, AZ-618/AZ-619..AZ-624),
  AZ-332 + AZ-333 BLOCKED with parked Tier-2 follow-ups
  AZ-592 + AZ-593, AZ-589 + AZ-590 closed Won't-Fix, Step 11
  Run Tests results (3343 passed / 88 skipped / 0 failed
  local; Docker harness rehab tracked by AZ-602), and the
  deferred-reconciliation list.
- glossary.md: 5 new cycle-1 entries (_STRATEGY_REGISTRY,
  airborne_bootstrap, KltRansac as production-default Tier-1
  VIO, pre_constructed kwarg, Tier-1 task / Tier-2 task
  capability classification). Status line notes the cycle-1
  additions pending re-confirmation.
- ripple_log_cycle1.md (new): explains why per-file
  enumeration is N/A for end-of-cycle-1 sync, lists the
  three doc-update levels and their effective scope, and
  records the recommended follow-up ordering for the
  deferred component / helper / contract / test passes.

Step 13 deferred: architecture.md, module-layout.md,
system-flows.md, 14 component description.md + tests.md,
8 helper docs, 18 contract subfolders, 7 test docs (~50+
files; ~80 product tasks + ~8 helper tasks + ~36 blackbox
test tasks). Filed in FINAL_report.md and
ripple_log_cycle1.md; resume in a fresh conversation per
the 2026-05-18 LESSONS.md guidance.

State: greenfield / Step 13 / in_progress / phase 5
(system-level-updates) / cycle 1.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-19 15:40:14 +03:00
parent eb77f04495
commit 4f122b604d
4 changed files with 112 additions and 9 deletions
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@@ -167,7 +167,7 @@ Both the inclusive reading (PARTIAL = covered) and the strict reading clear the
| 6 | D-CROSS-LATENCY-1 hybrid (ADR-006): K=3 baseline auto-degrades to K=2 + Jacobian covariance under thermal throttle | Preserves AC-4.1 at +50 °C ambient at the cost of ~5–10 % accuracy | Static K=2 — wastes covariance precision in nominal conditions; static K=3 — blows the budget under throttle |
| 7 | Spoof-promotion gate (ADR-008): re-promote only after ≥10 s `gps_health == STABLE_NON_SPOOFED` AND visual-consistency check passes | AC-NEW-2 / AC-NEW-8 floor; defends against attacker turning spoof off briefly | Time-only gate (≥30 s) — slower mission recovery, still fool-able by transient honest GPS during attack |
| 8 | Interface-first components with constructor injection (ADR-009) | Multiple interchangeable strategies on the same interface (C1 has 3, C2 has 6+, C8 has 2) — selection via composition root only | Service-locator / global registry — couples runtime to import order, breaks tests, breaks build-time exclusion |
| 9 | OpenCV pinned to ≥4.12.0 (Mode B Fact #112) | CVE-2025-53644 mitigation; IPPE flags for solvePnP D-C4-1=(b) | Older OpenCV — known CVE; newer beta — not pinned in JetPack 6.2 |
| 9 | OpenCV pin **temporarily relaxed** to `>=4.11.0.86,<4.12` (was `>=4.12.0` per original Mode B Fact #112) | `gtsam==4.2.1` (only published wheel) is built against numpy 1.x ABI; `opencv-python>=4.12` requires numpy>=2; D-CROSS-CVE-1 follow-up tracked in `_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md` and replays the `>=4.12.0` pin once gtsam ships numpy-2 wheels (or an alternative SE(3) backend is adopted) | Keep numpy>=2 — `gtsam.Pose3` SEGFAULTs; force `opencv-python>=4.12` — uninstallable; drop gtsam — loses ADR-003 honest 6×6 covariance |
| 10 | DISK + LightGlue replaces SuperPoint+SuperGlue for cross-domain matching (D-C3-1 = (a)) | License — SP+SG is Magic Leap noncommercial canonical; DISK+LightGlue is BSD-3-Clause | SuperPoint+SuperGlue — license incompatibility; XFeat — promising but unproven cross-domain |
| 11 | AC-NEW-4 / AC-NEW-7 text relaxed 2026-05-09 to Monte-Carlo-over-current-data with stated 95 % CI | D-PROJ-3 multi-flight fixture acquisition is out of scope this cycle; literal "≥100 flights" wording cannot be met | Block planning on D-PROJ-3 — cycle would not close; relaxed wording is documented residual risk in R11 |
@@ -203,6 +203,55 @@ Both the inclusive reading (PARTIAL = covered) and the strict reading clear the
| `diagrams/components.drawio` | Component-level diagram (visual companion to `components/`) |
| `diagrams/flows/00_index.md` | Per-flow index pointing into `system-flows.md` |
## Cycle 1 Implementation Status
> Appended 2026-05-19 as part of greenfield Step 13 (Update Docs, task mode). Captures the as-built deltas from this planning report after 97 implementation batches + Step 11 Run Tests + Step 12 Test-Spec Sync. Sources: `_docs/03_implementation/implementation_completeness_cycle1_report.md`, `_docs/03_implementation/run_tests_step11_report.md`, `_docs/02_tasks/done/` (165 task specs), `_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md`.
### Composition-root architecture additions (not in the original Plan)
The Plan-era `architecture.md` § ADR-009 (interface-first, constructor injection) and module-layout.md's "Composition root is `runtime_root/`" rule remain correct, but cycle 1 added two cross-cutting Tier-1 mechanisms inside `runtime_root/` that the Plan did not anticipate. Both are operational prerequisites for `compose_root()` reaching takeoff:
- **`_STRATEGY_REGISTRY` + `register_strategy(...)` API (AZ-591)** — a module-level `dict[(component_slug, strategy_name)] → factory` populated per-binary. `runtime_root.airborne_bootstrap.register_airborne_strategies()` fills 7 airborne slots (`c1_vio`, `c2_vpr`, `c2_5_rerank`, `c3_matcher`, `c3_5_adhop`, `c4_pose`, `c5_state`) with `tier="airborne"`. Without this, `compose_root()` raises `StrategyNotLinkedError` on the first config-driven strategy lookup. The registry is the runtime-side complement to ADR-002 build-time exclusion: the build chooses which strategies are even available to register, the registry chooses which one this binary serves.
- **`pre_constructed` kwarg + `build_pre_constructed(config)` (AZ-618 umbrella → subtasks AZ-619..AZ-624)** — `compose_root(config, pre_constructed=...)` now requires a 12-key dict of infrastructure objects (`c13_fdr`, `c6_descriptor_index`, `c6_tile_store`, `c7_inference`, `c3_lightglue_runtime`, `c3_feature_extractor`, `c282_ransac_filter`, `c5_wgs_converter`, `c5_se3_utils`, `c5_isam2_graph_handle`, `c5_imu_preintegrator`, `clock`). The airborne entrypoint builds these in 6 dependency-ordered phases (A=c13/clock → F=wire_main); GPU-touching builders gate on the corresponding `BUILD_*` env flag. Missing keys raise `AirborneBootstrapError` with the missing-key name; tests stub by passing the same `pre_constructed=...` kwarg.
These additions sit inside `runtime_root/`; no component crosses the import boundary AZ-507 enforces. Both still need to be folded into `architecture.md` (ADR-009 sibling notes) and `module-layout.md` § "Composition Root" — deferred to a follow-up `/document` task pass.
### BLOCKED tasks with parked Tier-2 follow-ups
Per the implement skill § 15 "PASS-with-BLOCKED" allowable terminal classification (see `implementation_completeness_cycle1_report.md`):
| Task | Status | Reason | Parked Tier-2 follow-up |
|------|--------|--------|-------------------------|
| AZ-332 — C1 OKVIS2 production-default `VioStrategy` | BLOCKED | Tier-2 prerequisites: CI build env + Jetson hardware + DBoW2 vocab artifact. Ships a Python facade + pybind11 binding skeleton; first `add_frame` raises until upstream `okvis::ThreadedSlam` wiring lands. | **AZ-592** (`_docs/02_tasks/backlog/`) |
| AZ-333 — C1 VINS-Mono research-only `VioStrategy` | BLOCKED | Tier-2 prerequisites + upstream vendoring decision (HKUST + ROS-strip vs. community fork). Same skeleton-only state as AZ-332. | **AZ-593** (`_docs/02_tasks/backlog/`) |
**Operational consequence**: the production-default airborne `VioStrategy` for cycle-1 release is **`KltRansac`** (the engine-rule-mandatory simple baseline, AZ-334), NOT OKVIS2 as `architecture.md` ADR-001 nominally implies. ADR-001 / ADR-002 remain architecturally correct (the seam exists; the build-flag gating works); the production *default selection* shifts until Tier-2 lands. The `_STRATEGY_REGISTRY` still registers the OKVIS2 + VINS-Mono slots so the registry seam stays correct — selecting them via config raises `StrategyNotAvailableError` from `vio_factory.py` until their `BUILD_*` flag is ON.
**Closed Won't-Fix during this cycle**: AZ-589 + AZ-590 (the original remediation tasks for AZ-332 + AZ-333). Both targeted upstream APIs that don't exist in the actually-checked-in OKVIS2 submodule + a non-existent VINS-Mono submodule. The post-mortem details are in `implementation_completeness_cycle1_report.md` § "Verdict — Revised 2026-05-16".
### Run Tests (Step 11) results
| Surface | Result |
|---------|--------|
| Local Tier-1 pytest suite | **3343 passed / 88 skipped / 0 failed** (12 logical chunks; full details in `run_tests_step11_report.md`) |
| Docker Tier-1 SUT Reality Gate | **NOT MET** — both harnesses (`scripts/run-tests.sh` + `e2e/docker/run-tier1.sh`) have pre-existing drift unrelated to Step 10 work (missing `ardupilot/*` + `inavflight/*` images on Docker Hub; broken Dockerfile entrypoints; unseeded tile-cache volume). Rehabilitation epic **AZ-602** owns this. |
| Skip classification | 14 Tier-2-only (Jetson) — legitimate; 8 CUDA/GPU absent on macOS dev host — legitimate; 6 TensorRT-on-Tier-2-only — legitimate; 57 Docker-compose-dependent — borderline, becomes covered once any harness runs end-to-end; 3 console-scripts-not-on-PATH — env-conditional; remainder legitimate |
### Dependency pin drift since Plan
- **opencv-python**: relaxed from `>=4.12.0` to `>=4.11.0.86,<4.12` (D-CROSS-CVE-1 deferred per `_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md`; root cause is the gtsam==4.2.1 / numpy<2.0 ABI lock). See revised Decision 9 above. The original CVE-2025-53644 intent stands and will replay once gtsam ships numpy-2 wheels.
### Documentation reconciliation still owed (deferred to a follow-up `/document` task pass)
This Step-13 session updated the highest-leverage system-level deltas only. The following surfaces still carry Plan-era assertions that do not match cycle-1 as-built behaviour and should be refreshed in a follow-up session:
- `architecture.md` — add ADR-009 sibling notes for `_STRATEGY_REGISTRY` + `pre_constructed`; revise OpenCV mentions (§ Technology stack, § Risks); reflect KltRansac-as-production-default in § C1 ADR commentary.
- `module-layout.md` — extend § "Composition Root" with `airborne_bootstrap` + `build_pre_constructed` ownership; AZ-618 / AZ-591 ownership rows in the runtime_root section.
- `components/01_c1_vio/description.md` — note KltRansac is the operational default while AZ-592 / AZ-593 are parked.
- `components/<NN>_<cN>/description.md` for the other 13 components — task-by-task reconciliation against the 80 product tasks in `done/`.
- `common-helpers/*.md` — task-by-task reconciliation against the 8 helper tasks in `done/`.
- `tests/*.md` — task-by-task reconciliation against the ~36 Blackbox Tests tasks in `done/` (some already touched by Step 12 Test-Spec Sync — see `tests/traceability-matrix.md` and `tests/resilience-tests.md` diffs).
## Quality Checklist Verification
All 8 checklist sections from `.cursor/skills/plan/steps/07_quality-checklist.md` pass for this cycle: