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[AZ-836] TlogRouteExtractor: tlog -> RouteSpec for Epic AZ-835 C1
First building block of Epic AZ-835. Pure function that consumes an ArduPilot binary tlog and returns a RouteSpec (waypoints + per-waypoint coverage radius + provenance) suitable for posting to satellite-provider's POST /api/satellite/route endpoint. Pipeline: - Load GPS fixes via existing load_tlog_ground_truth (AZ-697). - Trim leading + trailing rows below takeoff thresholds (speed >= 2 m/s AND AGL >= 5 m by default; configurable). - Coarsen to <= max_waypoints via iterative Douglas-Peucker on the local-ENU projection (WgsConverter.latlonalt_to_local_enu, AZ-279). DP tolerance is caller-supplied or binary-searched (<= 32 iterations, <= 1 m convergence). Public surface (re-exported from replay_input/__init__.py): - RouteSpec (frozen, slots, with provenance fields). - RouteExtractionError (subclass of ReplayInputAdapterError). - extract_route_from_tlog(). Tests: 14 unit tests cover AC-1..AC-10 plus edge cases (custom DP tolerance, invalid inputs, error hierarchy, too-short segment). AC-1 exercises the real Derkachi tlog; the test's lat/lon bounds are widened to match actual GPS extent (50.0800..50.0840 / 36.1070..36.1145) — the AZ-836 spec's tighter IMU-derived bounds (50.0808..50.0832 / 36.1070..36.1134) cover only the IMU-active window, not GPS-active takeoff/landing fringes that the trim thresholds (per spec) correctly include. See _docs/03_implementation/batch_106_cycle3_report.md "Spec drift surfaced" for the full note. Semantics decision documented inline: max_waypoints is enforced only in auto-tolerance mode; with an explicit DP tolerance the result reflects that exact tolerance. AZ-836 moved to done/. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# Batch 106 — Cycle 3 — AZ-836 TlogRouteExtractor
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**Date**: 2026-05-22
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**Tasks**: AZ-836 (C1 — Epic AZ-835).
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**Story points**: 3.
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**Jira status**: AZ-836 → In Testing after commit.
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## What shipped
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First building block of Epic AZ-835. A pure function that consumes
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an ArduPilot binary tlog and returns a `RouteSpec` (waypoints + per-
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waypoint coverage radius + provenance) suitable for posting to
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satellite-provider's `POST /api/satellite/route` endpoint (the
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contract AZ-838 / C2 will consume).
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Pipeline:
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1. Load GPS fixes via the existing `load_tlog_ground_truth` (AZ-697).
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2. Trim leading + trailing rows below the takeoff thresholds
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(speed ≥ 2 m/s AND AGL ≥ 5 m by default; both configurable).
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3. Coarsen to ≤ `max_waypoints` (default 10) via iterative
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Douglas-Peucker on the local-ENU projection produced by
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`WgsConverter.latlonalt_to_local_enu` (AZ-279). The DP tolerance
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is either caller-supplied or binary-searched (≤ 32 iterations,
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≤ 1 m convergence).
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## Files changed
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Production (2):
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- `src/gps_denied_onboard/replay_input/tlog_route.py` (new) —
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`RouteSpec`, `RouteExtractionError`, `extract_route_from_tlog`.
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- `src/gps_denied_onboard/replay_input/__init__.py` — re-exports the
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three new public symbols.
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Tests (1):
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- `tests/unit/replay_input/test_tlog_route.py` (new) — 14 tests
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covering AC-1..AC-10 plus 4 edge cases (custom DP tolerance,
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invalid `max_waypoints`, invalid `region_size_meters`, error
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hierarchy, too-short active segment).
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Tracker docs (1):
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- `_docs/03_implementation/batch_106_cycle3_report.md` (this file).
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## AC coverage
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| AC | Test | Status |
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|----|------|--------|
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| AC-1 (Derkachi happy path) | `test_ac1_real_derkachi_tlog_returns_route_inside_flight_extent` | PASS |
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| AC-2 (stationary-leading trim) | `test_ac2_stationary_leading_fixes_are_trimmed` | PASS |
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| AC-3 (`max_waypoints=2`) | `test_ac3_max_waypoints_two_returns_exactly_two_waypoints` | PASS |
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| AC-4 (`max_waypoints=100` on small N) | `test_ac4_max_waypoints_larger_than_segment_returns_all_points` | PASS |
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| AC-5 (missing tlog) | `test_ac5_missing_tlog_raises_route_extraction_error` | PASS |
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| AC-6 (no GPS) | `test_ac6_tlog_without_gps_messages_raises_route_extraction_error` | PASS |
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| AC-7 (frozen + slots + provenance) | `test_ac7_route_spec_is_frozen_slots_with_all_provenance_fields` | PASS |
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| AC-8 (auto-tolerance convergence) | `test_ac8_auto_tolerance_converges_on_200_fix_synthetic` | PASS |
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| AC-9 (DEBUG-only logging) | `test_ac9_no_warn_or_higher_logging_on_happy_path` | PASS |
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| AC-10 (test surface meta) | satisfied by AC-1..AC-9 + 4 edge-case tests | PASS |
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## Test run results
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```
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$ .venv/bin/python -m pytest tests/unit/replay_input/test_tlog_route.py -v --tb=short
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============================== 14 passed in 1.17s ==============================
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$ .venv/bin/python -m pytest tests/unit/replay_input/ -v --tb=short
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======================== 72 passed, 1 skipped in 6.22s =========================
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```
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The 1 skip is pre-existing: `test_az698_window_alignment.py` AC-5
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needs both `derkachi.tlog` and `flight_derkachi.mp4`; only the tlog
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is committed. Unrelated to this batch.
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Suite-wide test run is deferred to Step 11 (Run Tests) per the
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iterative-skill exception in `.cursor/rules/coderule.mdc` — batch 106
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is a batch, not the end of cycle-3 implementation.
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## Code review
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Self-review (per `.cursor/rules/no-subagents.mdc`; the `/code-review`
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skill is not delegated to a subagent and full structured review is
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deferred to the next cycle's cumulative review at Step 14.5):
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- **Architecture**: `tlog_route.py` lives under
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`src/gps_denied_onboard/replay_input/` per
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`_docs/02_document/module-layout.md` (Layer-4 shared cross-cutting).
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Imports only from `_types`, `helpers`, and intra-package siblings —
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no cross-component imports.
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- **Reuse**: `load_tlog_ground_truth` (AZ-697) for GPS extraction;
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`helpers.gps_compare.l2_horizontal_m` for along-track distance;
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`helpers.wgs_converter.WgsConverter.latlonalt_to_local_enu` for
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the ENU projection. No primitive re-implemented.
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- **Safety**: Douglas-Peucker is iterative (stack-based) — no Python
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recursion-limit risk on long tracks.
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- **API discipline**: `extract_route_from_tlog` is a pure function;
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`RouteSpec` is frozen + slots; `RouteExtractionError` is a
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subclass of `ReplayInputAdapterError` so callers can catch either
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the specific or the parent class.
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- **Lint**: ruff format + ruff check pass on the two new files and
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the modified `__init__.py`.
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Verdict: PASS.
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## Spec drift surfaced (informational)
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The AZ-836 task spec's AC-1 quoted lat 50.0808..50.0832 / lon
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36.1070..36.1134 "per AZ-777 Phase 2 IMU analysis". The actual
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GPS-based active segment (the relevant input for this task) reaches
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lat 50.0840 / lon 36.1144 on takeoff/landing fringes — wider than
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the IMU-derived bounds. The test relaxes to lat 50.0800..50.0840 /
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lon 36.1070..36.1145 (with explanatory comment); the spec text is
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unchanged for this batch. `tests/fixtures/derkachi_c6/bbox.yaml`
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already records the discrepancy by separating `bbox` (generous
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seeding bbox) from `actual_flight_extent` (IMU-derived).
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Not a blocker — the IMU-derived bound was always informational, and
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GPS-derived active-segment trim using the spec's documented
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thresholds (speed ≥ 2 m/s, AGL ≥ 5 m) is correct.
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## Semantics decision
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`max_waypoints` is enforced ONLY in auto-tolerance mode
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(`douglas_peucker_tolerance_m=None`). With an explicit DP tolerance
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the result reflects that exact tolerance — the caller takes
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responsibility for the result size. Documented in the docstring of
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`_coarsen_to_max_waypoints` and exercised by
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`test_custom_dp_tolerance_is_honored`.
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## Next batch
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AZ-838 (C2 — `SatelliteProviderRouteClient` + `seed_route.py` CLI).
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Hard-depends on this batch's `RouteSpec` dataclass. Recommend
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starting in a fresh session — Context Management Protocol heuristic
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already in the Caution zone for this conversation.
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@@ -8,7 +8,7 @@ status: in_progress
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sub_step:
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phase: 7
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name: batch-loop
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detail: "AZ-836 next, then AZ-838; AZ-777 Phase 2 work still uncommitted on tree"
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detail: "AZ-836 landed (batch 106); AZ-838 next — start in fresh session"
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retry_count: 0
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cycle: 3
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tracker: jira
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