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[AZ-894] [AZ-896] Add CSV-driven replay adapter + format docs

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Replaces the tlog two-clock replay surface with a single-clock path
driven by the Derkachi-schema CSV. --imu is the new required CLI arg;
--tlog stays as a deprecated alias (warned + ignored when --imu set)
until AZ-895 deletes it.

* csv_ground_truth.py parses the 15-column schema, fails fast at
  startup on every documented schema fault (AC-5).
* CsvReplayFcAdapter slots into ReplayInputBundle.fc_adapter alongside
  the tlog sibling; mirrors Invariant-5 outbound wiring; inbound bus is
  intentionally a no-op since the loop reads CSV directly.
* _run_replay_loop branches on imu_csv_path, stamps
  VioOutput.emitted_at_ns from the CSV-derived frame_end_ns (AC-4),
  closing the AZ-848 two-clock surface for the new path.
* AZ-896 ships the operator-facing format spec at
  _docs/02_document/contracts/replay/csv_replay_format.md plus a
  20-row example CSV (AC-3 regression-locked).

Tests: 11 + 12 new unit tests, plus updates to AZ-401 import-boundary
and AZ-402 CLI suites. Full unit suite 2,327 passed / 86 skipped.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-26 18:40:29 +03:00
parent 3020779404
commit 6be207cef3
19 changed files with 1833 additions and 93 deletions
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_docs/02_document/module-layout.md
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@@ -197,6 +197,7 @@ Bootstrap reference: `_docs/02_tasks/todo/AZ-263_initial_structure.md`. Architec
- `msp2_inav_adapter.py` (iNav via MSP2)
- `mavlink_gcs_adapter.py` (1–2 Hz downsampled summary to QGroundControl)
- `tlog_replay_adapter.py` (replay-mode `FcAdapter`; gated `BUILD_TLOG_REPLAY_ADAPTER`; ON in airborne per ADR-011; AZ-265)
- `csv_replay_adapter.py` (`CsvReplayFcAdapter` — outbound shim for the AZ-894 CSV-driven replay path; same `FcAdapter` Protocol parity as `tlog_replay_adapter`; gated `BUILD_TLOG_REPLAY_ADAPTER` for the airborne replay binary; AZ-894)
- `replay_sink.py` (`ReplaySink` interface + `JsonlReplaySink` impl; gated `BUILD_REPLAY_SINK_JSONL`; ON in airborne per ADR-011; AZ-265)
- `noop_mavlink_transport.py` (`NoopMavlinkTransport` for replay-mode outbound bytes; gated `BUILD_REPLAY_SINK_JSONL`; ON in airborne; AZ-265 / AZ-400)
- `serial_mavlink_transport.py` (`SerialMavlinkTransport` retrofit of the existing live-mode UART transport; AZ-265 / AZ-400 no-op restructure)