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[AZ-265] Replay as configuration of airborne binary (ADR-011)

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Re-design replay mode per user direction: replay is no longer a fourth
Docker image with a reduced component set, but a `config.mode = "replay"`
branch of the single airborne binary. The pre-flight workflow (route in
suite UI -> C12 tile download via real satellite-provider -> C10
manifest+engines build) is identical between live and replay; only three
strategies swap at compose time:

  FrameSource:      Live <-> Video
  FcAdapter:        Pymavlink/MSP2 <-> TlogReplay
  MavlinkTransport: Serial <-> Noop

The C8 outbound MAVLink encoders run unchanged in both modes; their
bytes hit `NoopMavlinkTransport` in replay and disappear. A new
`JsonlReplaySink` taps C5's `EstimatorOutput` stream so the parent-suite
UI sees per-tick coordinates by tailing `results.jsonl`. MAVLink 2.0
signing key remains mandatory (operator supplies a dummy file).

A new `replay_input/` Layer-4 cross-cutting coordinator owns
`(video, tlog) -> (FrameSource, FcAdapter, Clock)` convergence; the
composition root sees only standard interfaces past `.open()`.

Docs:
- architecture.md: new ADR-011 with full rationale; ADR-002 binary
  narrative updated.
- contracts/replay/replay_protocol.md: bumped to v2.0.0; 12 invariants
  (notably mode-agnosticism + encoder byte-equality + signing key
  mandatory + real C6 cache in replay).
- module-layout.md: Build-Time Exclusion Map dropped from 4 to 3 binary
  columns; replay-mode `BUILD_*` flags default ON in airborne;
  `shared/replay_input` cross-cutting entry added.
- epics.md: E-DEMO-REPLAY scope reframed; story points 27-32 -> 19-24.

Task respecs:
- AZ-401: shrunk 3 -> 2 pts; `compose_root` mode branch + JSONL sink +
  NoopMavlinkTransport wiring; legacy `compose_replay` export deleted.
- AZ-402: console-script wrapper that mutates `config.mode = "replay"`
  and dispatches into the shared airborne main; `--mavlink-signing-key`
  mandatory.
- AZ-403: CANCELLED. Moved to done/ with banner; Jira transition deferred
  via `_docs/_process_leftovers/2026-05-14_az_403_cancellation_pending_tracker.md`.
- AZ-404: AC-4 reworded as mode-agnosticism AST scan + encoder
  byte-equality test; new AC-8 operator-workflow rehearsal.
- AZ-405: also owns the `replay_input/` module + `ReplayInputAdapter`.

_dependencies_table.md updated: AZ-401 gains AZ-405 dep; AZ-404 drops
AZ-403 dep; AZ-403 row marked CANCELLED.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-14 09:01:04 +03:00
parent fa3742d582
commit 5adf3dd04f
13 changed files with 765 additions and 418 deletions
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_docs/02_tasks/_dependencies_table.md
+24 -11
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@@ -107,12 +107,12 @@ are all declared and documented below under **Cycle Check**.
| AZ-397 | C8 QgcTelemetryAdapter — downsampled 1–2 Hz summary out + operator command in | 3 | AZ-390, AZ-392, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266 | AZ-261 |
| AZ-398 | FrameSource Protocol + Clock Protocol + LiveCameraFrameSource retrofit + VideoFileFrameSource| 3 | AZ-263, AZ-269, AZ-270, AZ-266, AZ-272 | AZ-265 |
| AZ-399 | TlogReplayFcAdapter — replay-only FcAdapter parsing pymavlink .tlog | 5 | AZ-398, AZ-390, AZ-391, AZ-279, AZ-273, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-265 |
| AZ-400 | ReplaySink Protocol + JsonlReplaySink impl | 3 | AZ-263, AZ-269, AZ-270, AZ-381, AZ-266, AZ-272 | AZ-265 |
| AZ-401 | compose_replay(config) -> ReplayRoot + Clock injection across C1–C5 | 3 | AZ-398, AZ-399, AZ-400, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-390 | AZ-265 |
| AZ-402 | gps-denied-replay CLI entrypoint + argparse + camera-calibration loader | 3 | AZ-401, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-273 | AZ-265 |
| AZ-403 | gps-denied-replay-cli Dockerfile + GitHub Actions matrix entry + SBOM diff | 3 | AZ-402, AZ-398, AZ-399, AZ-400, AZ-401, AZ-263, AZ-269, AZ-266 | AZ-265 |
| AZ-404 | E2E replay fixture test — Derkachi 1–2 min clip + tlog | 5 | AZ-402, AZ-403, AZ-401, AZ-263, AZ-269, AZ-266, AZ-272, AZ-273 | AZ-265 |
| AZ-405 | Auto-sync of video ↔ tlog via IMU take-off detection | 5 | AZ-402, AZ-399, AZ-398, AZ-263, AZ-269, AZ-266, AZ-272 | AZ-265 |
| AZ-400 | ReplaySink + JsonlReplaySink + MavlinkTransport seam + Noop/Serial transports | 3 | AZ-263, AZ-269, AZ-270, AZ-381, AZ-266, AZ-272, AZ-390 | AZ-265 |
| AZ-401 | compose_root replay-mode branch — JSONL sink + NoopMavlinkTransport wiring | 2 | AZ-398, AZ-399, AZ-400, AZ-405, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-390 | AZ-265 |
| AZ-402 | gps-denied-replay console-script wrapper (mode-config dispatcher) | 3 | AZ-401, AZ-269, AZ-270, AZ-263, AZ-266, AZ-272, AZ-273 | AZ-265 |
| AZ-403 | (CANCELLED per ADR-011 — replay is a configuration of the airborne binary; no fourth image) | — | — | AZ-265 |
| 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-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 |
@@ -180,10 +180,23 @@ are all declared and documented below under **Cycle Check**.
(AZ-391) and `QgcTelemetryAdapter` (AZ-397); AZ-388 depends on
AZ-390 / AZ-397; AZ-396 depends on AZ-385. Each side ships against
the AZ-390 Protocol contract until the consumer task lands.
- **AZ-401 (compose_replay)** intentionally depends on the C1–C5 epic
IDs (AZ-254 … AZ-260) at the documentation level — concrete strategy
task IDs flow in through each component's composition factory, not
through this composition root directly.
- **AZ-401 (compose_root replay-mode branch, per ADR-011)** intentionally
depends on the C1–C5 epic IDs (AZ-254 … AZ-260) at the documentation
level — concrete strategy task IDs flow in through each component's
composition factory, not through this composition root directly. Under
ADR-011 there is NO separate `compose_replay` function; replay is a
`config.mode = "replay"` branch inside the single `compose_root`. The
legacy v1.0.0 fourth-binary design (AZ-403) is cancelled — see the
cancellation banner in `_docs/02_tasks/done/AZ-403_replay_dockerfile_ci.md`
and the pending tracker leftover at
`_docs/_process_leftovers/2026-05-14_az_403_cancellation_pending_tracker.md`.
- **AZ-405 (replay_input/ coordinator + auto-sync)** is the architectural
seam between `(video, tlog)` and the rest of the system under ADR-011.
Its consumers are AZ-401 (composition-root branch builds the
coordinator) and AZ-404 (E2E uses the populated coordinator via the
CLI). It depends on AZ-398 / AZ-399 / AZ-279 but NOT on AZ-402 (the CLI
consumes the coordinator's CLI-arg surface, but the coordinator itself
is CLI-agnostic).
- **E-BBT (AZ-262) forward dependencies on AZ-444 (Tier-2 harness)**:
AZ-428, AZ-430, AZ-440, AZ-443 declare hard forward deps on AZ-444;
AZ-439 declares an optional forward dep on AZ-444 (Tier-2 ASan-fuzz
@@ -300,7 +313,7 @@ are all declared and documented below under **Cycle Check**.
normaliser) → AZ-276..AZ-283
- Frame source + Clock → AZ-398
- Replay sink → AZ-400
- Replay composition + CLI + auto-sync → AZ-401/402/405
- Replay composition branch + CLI wrapper + replay_input/ coordinator → AZ-401/402/405 (AZ-403 cancelled per ADR-011)
- **No unresolved `AZ-?` placeholders** in any task file (verified by grep on Step 4 close-out).