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[AZ-589] [AZ-590] [AZ-591] [AZ-592] [AZ-593] Re-classify cycle1 gate findings
Cycle 1 Product Implementation Completeness Gate post-mortem. AZ-589 + AZ-590 were the wrong abstraction: - AZ-589 targeted `okvis::ThreadedKFVio` (OKVIS v1 API) which does not exist in the vendored OKVIS2 upstream; smartroboticslab/okvis2 exposes `okvis::ThreadedSlam` instead. - AZ-590 assumed a "de-ROSified VINS-Mono pin" submodule exists; `cpp/vins_mono/upstream/` has no `.gitmodules` entry. - The actual production gap is the empty central `_STRATEGY_REGISTRY`: `register_strategy(...)` is never called outside test fixtures, so `compose_root()` raises `StrategyNotLinkedError` for every component slug with a strategy-selecting config field. Affects c1_vio + c2_vpr + c2_5_rerank + c3_matcher + c3_5_adhop + c4_pose + c5_state. Re-classification: - AZ-589 + AZ-590 closed Won't Fix (Jira); spec files removed from todo/ but rows retained in the dependencies table as audit-trail. - AZ-591 created (todo/, 5pt) — cross-cutting compose_root per-binary bootstrap that populates `_STRATEGY_REGISTRY` for the airborne binary. Scheduled as Batch 66 sole task. - AZ-592 created (backlog/, 5pt placeholder) — AZ-332 Tier-2 validation bundle (real `okvis::ThreadedSlam` wiring + Linux CI apt-install + DBoW2 vocab + Jetson). BLOCKED on Tier-2 prerequisites; honors AZ-332's `AZ-332_tier2_validation` self-deferral handle. - AZ-593 created (backlog/, 5pt placeholder) — AZ-333 Tier-2 validation bundle (de-ROSified VINS-Mono upstream + binding + CI + Jetson). BLOCKED on upstream vendoring decision plus Tier-2 prerequisites; honors AZ-333's parallel deferral pattern. - AZ-332 + AZ-333 re-classified in cycle1 gate report from FAIL to BLOCKED-on-Tier-2. Step 7 stays in_progress until AZ-591 lands; after that it can advance to Step 8 with AZ-592 + AZ-593 parked in backlog/. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# Dependencies Table
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**Date**: 2026-05-16 (refreshed at end of Product Implementation Completeness Gate cycle 1: 2 FAIL items (AZ-332, AZ-333) → AZ-589 + AZ-590 remediation tasks added; spec files `_docs/02_tasks/todo/AZ-58[9-90]_remediate_*.md`; gate report `_docs/03_implementation/implementation_completeness_cycle1_report.md`; earlier same-day after end of Batch 64: AZ-558 implementation closed — `MavlinkTransport` seam now routes every C8 outbound MAVLink byte; AZ-401 AC-9 + AZ-404 AC-4b unskipped together; encoder helpers extracted to `_outbound_mavlink_payloads.py`; live-mode `compose_root` injection deferred to whichever future batch registers AP/iNav strategies in an airborne binary; earlier 2026-05-14: refreshed at start of Batch 63: AZ-559 closed Won't Fix — gap was illusory; `TileSource.ONBOARD_INGEST` + `TileMetadata.quality_metadata` + `write_tile`'s `FreshnessRejectionError` already cover the AZ-389 mid-flight ingest semantic without any new API; AZ-389 dep restored to AZ-303; 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)
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**Total Tasks**: 152 (111 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 closed Won't Fix; AZ-589 = 5pt OKVIS2 ThreadedKFVio remediation; AZ-590 = 5pt VINS-Mono estimator remediation
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**Total Complexity Points**: 507 (374 product + 133 blackbox-test) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt, AZ-558 = 3pt, AZ-589 = 5pt, AZ-590 = 5pt
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**Date**: 2026-05-16 (refreshed at end of cycle-1 completeness-gate post-mortem: AZ-589 + AZ-590 closed Won't Fix — were wrong abstraction (OKVIS v1 `ThreadedKFVio` API doesn't exist in OKVIS2 upstream; VINS-Mono `cpp/vins_mono/upstream/` submodule never existed; the actual production gap is the empty central `_STRATEGY_REGISTRY` affecting EVERY component with a strategy-selecting config field, not just c1_vio); replaced by AZ-591 (cross-cutting compose_root per-binary bootstrap, todo/, 5pt) + AZ-592 (AZ-332 Tier-2 validation bundle, backlog/, 5pt placeholder) + AZ-593 (AZ-333 Tier-2 validation bundle, backlog/, 5pt placeholder); AZ-332 + AZ-333 re-classified in gate report from FAIL to BLOCKED-on-Tier-2 per the original tasks' Implementation Notes deferral handles; earlier same-day after end of cycle-1 gate: AZ-589 + AZ-590 created (now closed); earlier same-day after end of Batch 64: AZ-558 implementation closed — `MavlinkTransport` seam now routes every C8 outbound MAVLink byte; AZ-401 AC-9 + AZ-404 AC-4b unskipped together; encoder helpers extracted to `_outbound_mavlink_payloads.py`; live-mode `compose_root` injection deferred to whichever future batch registers AP/iNav strategies in an airborne binary; earlier 2026-05-14: refreshed at start of Batch 63: AZ-559 closed Won't Fix — gap was illusory; `TileSource.ONBOARD_INGEST` + `TileMetadata.quality_metadata` + `write_tile`'s `FreshnessRejectionError` already cover the AZ-389 mid-flight ingest semantic without any new API; AZ-389 dep restored to AZ-303; 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)
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**Total Tasks**: 155 (114 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 closed Won't Fix; AZ-589 + AZ-590 closed Won't Fix (kept in table as 0pt audit-trail rows); AZ-591 = 5pt cross-cutting compose_root bootstrap (todo/); AZ-592 = 5pt OKVIS2 Tier-2 placeholder (backlog/); AZ-593 = 5pt VINS-Mono Tier-2 placeholder (backlog/)
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**Total Complexity Points**: 517 (384 product + 133 blackbox-test) — AZ-523 = 3pt, AZ-524 = 2pt, AZ-526 = 2pt, AZ-527 = 2pt, AZ-528 = 3pt, AZ-558 = 3pt, AZ-589 + AZ-590 retained at 5pt each but closed Won't Fix (treated as 0 effective pts going forward), AZ-591 = 5pt, AZ-592 = 5pt placeholder, AZ-593 = 5pt placeholder
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Dependencies columns list only the tracker-ID portion (descriptive tail
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text in each task spec is omitted here for table-readability). The
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@@ -164,8 +164,11 @@ are all declared and documented below under **Cycle Check**.
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| AZ-528 | Hygiene — consolidate c1_vio strategy facade orchestration spine | 3 | AZ-334 | AZ-254 |
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| AZ-523 | Batch 44 — C11 internal flight-state gate removal (SRP refactor; audit-trail; closed) | 3 | AZ-317, AZ-319, AZ-329 | AZ-251 |
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| AZ-524 | Batch 44 — C12 package rename: c12_operator_tooling → c12_operator_orchestrator (audit; closed)| 2 | AZ-263, AZ-326, AZ-327, AZ-328, AZ-329, AZ-330, AZ-489 | AZ-253 |
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| AZ-589 | Remediate AZ-332 — wire `okvis::ThreadedKFVio` inside OKVIS2 pybind11 binding | 5 | AZ-332, AZ-276, AZ-277 | AZ-254 |
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| AZ-590 | Remediate AZ-333 — wire VINS-Mono estimator inside pybind11 binding | 5 | AZ-333, AZ-276, AZ-277 | AZ-254 |
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| AZ-589 | Remediate AZ-332 (CLOSED Won't Fix — wrong abstraction + wrong OKVIS API; replaced by AZ-591+AZ-592) | 5 | AZ-332, AZ-276, AZ-277 | AZ-254 |
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| AZ-590 | Remediate AZ-333 (CLOSED Won't Fix — wrong abstraction + missing upstream; replaced by AZ-591+AZ-593) | 5 | AZ-333, AZ-276, AZ-277 | AZ-254 |
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| AZ-591 | compose_root per-binary bootstrap — populate `_STRATEGY_REGISTRY` for airborne binary | 5 | AZ-270, AZ-331, AZ-339, AZ-345, AZ-352, AZ-355, AZ-368, AZ-380 | AZ-246 |
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| AZ-592 | AZ-332 Tier-2 validation — OKVIS2 ThreadedSlam wiring + CI build env + Jetson (backlog) | 5 | AZ-332, AZ-276, AZ-277, AZ-591 | AZ-254 |
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| AZ-593 | AZ-333 Tier-2 validation — de-ROSified VINS-Mono upstream + binding + CI + Jetson (backlog) | 5 | AZ-333, AZ-276, AZ-277, AZ-591, AZ-592 | AZ-254 |
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## Notes
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# AZ-592 — AZ-332 Tier-2 validation: OKVIS2 ThreadedSlam wiring + CI build env + Jetson
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**Task**: AZ-592_AZ-332_tier2_validation
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**Name**: AZ-332 Tier-2 validation bundle (OKVIS2)
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**Description**: Replace the AZ-332 `_native/okvis2_binding.cpp` skeleton with real `okvis::ThreadedSlam` wiring; add the Linux CI apt-install block + flip `BUILD_OKVIS2=OFF` to `ON`; package the DBoW2 vocabulary artifact; validate honest 6×6 covariance on real Jetson hardware against Derkachi-class fixtures.
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**Complexity**: 5 points (placeholder; likely 8+ once Tier-2 work actually starts — re-size when scheduled)
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**Dependencies**: AZ-332, AZ-276 (ImuPreintegrator), AZ-277 (SE3Utils), AZ-591 (compose_root per-binary bootstrap — must land first so the registered c1_vio:okvis2 slot is reachable)
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**Component**: c1_vio (epic AZ-254 / E-C1)
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**Tracker**: AZ-592
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**Epic**: AZ-254 (E-C1)
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**Status**: parked in `backlog/` — BLOCKED on Tier-2 prerequisites (see below)
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## Problem
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AZ-332 shipped the `Okvis2Strategy` Python facade + `Okvis2Backend` skeleton C++ binding (which throws `OkvisFatalException` on first frame) and explicitly deferred the real estimator wiring to a Tier-2 follow-up. AZ-332's Implementation Notes line 82 named this follow-up `AZ-332_tier2_validation` and stated the gate would create it at cycle end.
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The cycle-1 gate initially mis-classified AZ-332 as `FAIL` and created `AZ-589_remediate_okvis2_threadedkfvio_wiring` against the wrong OKVIS v1 API (`ThreadedKFVio` doesn't exist in OKVIS2). That ticket has been closed Won't Fix. This task replaces it with the correct scope and API.
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## Outcome
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1. **API-correct C++ binding rewrite**: rewrite `_native/okvis2_binding.cpp` against the actual OKVIS2 upstream API:
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- Headers: `okvis/ThreadedSlam.hpp`, `okvis/ViParametersReader.hpp`, `okvis/Parameters.hpp`, `okvis/ViInterface.hpp`.
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- Construct `okvis::ThreadedSlam(parameters, dBowDir)` after reading `yaml_config_` via `okvis::ViParametersReader(yaml).getParameters(parameters)`.
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- Subscribe to `setOptimisedGraphCallback(...)` with a lambda whose signature is `void(const State&, const TrackingState&, std::shared_ptr<const AlignedMap<StateId, State>>, std::shared_ptr<const okvis::MapPointVector>)`. Fill `latest_output_` under `output_mtx_` from `State::T_WS`, `v_W`, `b_g`, `b_a`, `omega_S`, `timestamp`, `isKeyframe`; derive `tracked_features` + `mean_parallax` from `TrackingState`.
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- Convert numpy uint8 frames to `cv::Mat` (re-using the existing `py::array_t<uint8_t, c_style|forcecast>` no-copy buffer view) and call `addImages(okvis_time, {0: cv_mat})`.
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- Forward IMU via `addImuMeasurement(okvis_time, Eigen::Vector3d(alpha), Eigen::Vector3d(omega))`.
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- Map `okvis::TrackingQuality` (Good/Marginal/Lost) onto the binding's `HealthState` enum.
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- Reset: re-construct `ThreadedSlam` from the same `parameters` and re-subscribe the callback (OKVIS2 has no in-place reset).
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2. **6×6 covariance extraction**: ViInterface does not expose the marginalisation block directly. Two options:
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- (a) Add a tiny upstream patch to `ThreadedSlam` exposing `ViSlamBackend::computeCovariance(StateId)`; document the patch under `cpp/okvis2/patches/`.
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- (b) Best-effort proxy: emit a fixed-rank diagonal scaled by feature count / tracking-quality until the upstream patch lands. Mark the AC-1.4 covariance honesty test as `xfail(strict=True)` until option (a) is in.
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3. **CMake glue**: extend `cpp/okvis2/CMakeLists.txt` to link OpenCV (cv::Mat is used in the binding). Verify Eigen pin alignment with GTSAM + VINS-Mono (AZ-593).
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4. **CI workflow**: in `.github/workflows/ci.yml`, add `apt install -y libceres-dev libbrisk-dev libdbow2-dev libsuitesparse-dev libgflags-dev libgoogle-glog-dev libopencv-dev libboost-filesystem-dev libatlas-base-dev libeigen3-dev` to the Linux runner setup step. Flip `-DBUILD_OKVIS2=OFF` to `-DBUILD_OKVIS2=ON` for the `airborne` + `research` matrix kinds.
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5. **DBoW2 vocab artifact**: package `small_voc.yml.gz` next to the .so install location. Two options:
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- (a) Vendor inside the repo (small file, ~3MB — but ROS users typically download separately).
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- (b) Fetch at CI time via a pinned URL from a OKVIS2 release artifact mirror; user decides at scheduling time.
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6. **Tier-1 integration test**: `tests/integration/c1_vio/test_az332_okvis2_real_binding.py` with `@pytest.mark.skipif(not _okvis2_binding_present())`. Sanity-check that the binding loads and processes a 60-frame EuRoC-class fixture without throwing; does NOT validate accuracy (Tier-2).
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7. **Tier-2 Jetson validation** (AC-9 of original AZ-332): run honest 6×6 covariance validation against Derkachi-class fixtures on real Jetson Orin. p95 ≤ 80 ms; p50 ≤ 25 ms per the original NFR-perf budget. Owned by AZ-444 (Tier-2 Jetson harness).
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## Prerequisites BLOCKED on
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- **AZ-591 landed first**: compose_root per-binary bootstrap so `c1_vio:okvis2` is registered + reachable.
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- **Linux CI runner image with apt deps**: GitHub Actions `ubuntu-latest` has most deps but not `libbrisk-dev` / `libdbow2-dev`; may require a custom runner image or `apt install` of dependencies plus a self-built brisk/dbow2.
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- **Jetson hardware**: for AC-9 honest-covariance validation against Derkachi-class fixtures.
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- **DBoW2 vocab decision**: vendor in-repo (option 5a) vs. fetch at CI time (option 5b).
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- **Eigen pin alignment**: confirm GTSAM + OKVIS2 use compatible Eigen versions; vendor Eigen under `cpp/_third_party/eigen/` if not.
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## Scope notes
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- This task as written exceeds the user's 5pt PBI complexity rule. It is filed as a placeholder. When Tier-2 work actually starts, split into:
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- `AZ-592a` — C++ binding rewrite + CMake (3pt; assumes CI dep install handled externally)
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- `AZ-592b` — Linux CI dep install + DBoW2 vocab artifact (2pt)
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- `AZ-592c` — Jetson hardware validation against Derkachi-class fixtures (5pt; runs IT-12 fixtures with covariance honesty assertions)
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- Plus the upstream-patch decision (`cpp/okvis2/patches/expose_covariance.patch`) as its own ADR addendum if needed.
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## Notes
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- Coordinate with `AZ-593` (VINS-Mono Tier-2 sibling) on shared Eigen / Ceres pin work.
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- Upstream OKVIS2 README documents the apt deps explicitly; copy that list verbatim into the CI workflow comment.
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- The skeleton binding's `OkvisFatalException("OKVIS2 estimator not yet wired — this binding is the AZ-332 skeleton")` is the deliberate fail-loud surface. Replace it with the real `ThreadedSlam` calls; do NOT keep a fallback "estimator_built_ = false" branch.
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- The `Implementation Notes (2026-05-12, batch 23)` block in `_docs/02_tasks/done/AZ-332_c1_okvis2_strategy.md` documents the original deferral rationale. Keep it intact for audit; this task discharges that contract.
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# AZ-593 — AZ-333 Tier-2 validation: de-ROSified VINS-Mono upstream + binding + CI + Jetson
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**Task**: AZ-593_AZ-333_tier2_validation
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**Name**: AZ-333 Tier-2 validation bundle (VINS-Mono)
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**Description**: Vendor upstream VINS-Mono (with ROS-strip layer), rewrite `_native/vins_mono_binding.cpp` against the real `Estimator` + `FeatureTracker` API, add the Linux CI apt-install block for the research matrix kind, validate against IT-12 comparative-study fixtures on Jetson hardware.
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**Complexity**: 5 points (placeholder; likely 8+ if HKUST + ROS-strip path is chosen — re-size when scheduled)
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**Dependencies**: AZ-333, AZ-276 (ImuPreintegrator), AZ-277 (SE3Utils), AZ-591 (compose_root per-binary bootstrap), AZ-592 (OKVIS2 Tier-2 — shares CMake / Eigen pin work)
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**Component**: c1_vio (epic AZ-254 / E-C1)
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**Tracker**: AZ-593
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**Epic**: AZ-254 (E-C1)
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**Status**: parked in `backlog/` — BLOCKED on Tier-2 prerequisites (see below)
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## Problem
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AZ-333 shipped the `VinsMonoStrategy` Python facade + `VinsMonoBackend` skeleton C++ binding (same defect pattern as AZ-332) and explicitly deferred the real estimator wiring. AZ-333's Implementation Notes named the follow-up `AZ-333_tier2_validation`.
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The cycle-1 gate initially mis-classified AZ-333 as `FAIL` and created `AZ-590_remediate_vins_mono_estimator_wiring`. That ticket has been closed Won't Fix; this task replaces it with the correct scope.
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**Additional blocker unique to AZ-593**: `cpp/vins_mono/upstream/` is referenced by `cpp/vins_mono/CMakeLists.txt` but **does not exist** — `.gitmodules` has no entry for it. The original AZ-333 task spec assumed a "de-ROSified VINS-Mono pin" exists; the user / team must pick the vendoring path.
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## Outcome
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1. **Upstream vendoring decision**: choose between
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- (a) Original HKUST `HKUST-Aerial-Robotics/VINS-Mono` (ROS1-locked). Requires in-tree ROS-strip configure-time hook. More work but no fork drift.
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- (b) A community de-ROSified fork (e.g., `Karaca-VINS-Mono` or `RonaldSun/vins-fusion-no-ros`). Less work but accepts external maintenance drift.
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The decision needs to be made BEFORE work starts. Document in `_docs/03_implementation/refactoring/vins_mono_upstream_choice.md` with the chosen pin commit hash and the rationale.
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2. **Add submodule**: `git submodule add <chosen-url> cpp/vins_mono/upstream` against the pinned commit.
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3. **ROS-stub layer** (only if option 1a): vendor minimal `cpp/_third_party/vins_mono_ros_stub/` providing the symbols VINS-Mono pulls from `roscpp` / `rosbag` / `std_msgs` / `sensor_msgs` without requiring a real ROS install. Pre-process upstream sources via CMake `configure_file` to redirect ROS headers to the stubs.
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4. **C++ binding rewrite**: replace `_native/vins_mono_binding.cpp` skeleton with real `Estimator` + `FeatureTracker` wiring. API surface:
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- Construct `feature_tracker::FeatureTracker` + `vins_estimator::Estimator` after parsing `yaml_config_` via VINS-Mono's `readParameters()` / equivalent.
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- In `add_frame(image)`: call `feature_tracker_.readImage(image_8uc1, ts_seconds)`, retrieve the resulting feature observations, feed them into `estimator_.processImage(image_msg, header)` (mirroring the upstream `feature_tracker_node.cpp` / `estimator_node.cpp` flows but without ROS message types).
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- In `add_imu(ts, accel, gyro)`: `estimator_.processIMU(ts, alpha, omega)`.
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- Periodically (or per-frame) call `estimator_.processMeasurements(...)` and `estimator_.solveOdometry()` to drive the sliding-window optimisation.
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- Extract output: read `estimator_.Ps[WINDOW_SIZE]` (position), `estimator_.Rs[WINDOW_SIZE]` (rotation), `estimator_.Bas[WINDOW_SIZE]` / `estimator_.Bgs[WINDOW_SIZE]` (biases). Pose covariance from `estimator_.last_marginalization_info`.
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- Reset: `estimator_.clearState()` + `estimator_.setParameter()`.
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5. **CMake glue**: extend `cpp/vins_mono/CMakeLists.txt` to link the upstream + stub libs against pinned Ceres + OpenCV ≥ 4.2 + Eigen ≥ 3.4. **Pin alignment**: ensure Eigen + Ceres pins match AZ-592 (OKVIS2 Tier-2) to avoid ABI conflict in the research binary which links both.
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6. **CI workflow**: gate `BUILD_VINS_MONO=ON` on the `research` / `comparative-study` CI matrix kind only (NOT the airborne kind — `ci/sbom_diff.py` enforces). Apt deps overlap heavily with AZ-592 (Ceres, OpenCV, Eigen, SuiteSparse).
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7. **Tier-1 integration test**: `tests/integration/c1_vio/test_az333_vins_mono_real_binding.py` with `@pytest.mark.skipif(not _vins_mono_binding_present())`.
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8. **Tier-2 Jetson validation** (comparative-study against AZ-332 OKVIS2): runs IT-12 fixtures, owned by AZ-444 (Tier-2 Jetson harness).
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## Prerequisites BLOCKED on
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- **Upstream choice (user decision)**: HKUST + ROS-strip (option 1a) vs. community de-ROSified fork (option 1b).
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- **AZ-591 landed first**: compose_root per-binary bootstrap so `c1_vio:vins_mono` is registered + reachable on the research binary.
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- **AZ-592 landed first or in parallel**: shares Linux CI dep install + Eigen / Ceres pin alignment work.
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- **Linux CI runner image with apt deps**: see AZ-592.
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- **Jetson hardware**: for IT-12 comparative-study validation.
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## Scope notes
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- This task as written almost certainly exceeds 5pt. When Tier-2 work actually starts, split into:
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- `AZ-593a` — Upstream vendoring decision + ADR addendum + submodule add (2pt)
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- `AZ-593b` — ROS-stub layer (if option 1a) (5pt)
|
||||
- `AZ-593c` — C++ binding rewrite + CMake (5pt)
|
||||
- `AZ-593d` — Jetson IT-12 validation (5pt)
|
||||
- The HKUST + ROS-strip path is the more conservative engineering choice (no fork drift, full upstream maintenance available), but it's also the larger effort. The fork path may be 1-2 weeks faster but introduces a maintenance dependency on a third-party fork.
|
||||
|
||||
## Notes
|
||||
|
||||
- Coordinate Eigen / Ceres pin work with AZ-592. Both link against Ceres + Eigen; the research binary links both AZ-592 and AZ-593 artifacts, so version mismatch = link-time segfault.
|
||||
- Upstream VINS-Mono's `feature_tracker_node.cpp` and `estimator_node.cpp` are the reference for the binding's I/O flow. Strip the ROS message types and replace with the binding's `add_frame` / `add_imu` surface.
|
||||
- `_docs/02_tasks/done/AZ-333_c1_vins_mono_strategy.md` documents the original deferral. Keep intact for audit; this task discharges that contract.
|
||||
- `AZ-444` (Tier-2 Jetson harness) is the consumer of this task's binding artifact. AZ-444's IT-12 comparative-study runs require both OKVIS2 (AZ-592) and VINS-Mono (AZ-593) bindings to be working.
|
||||
@@ -1,106 +0,0 @@
|
||||
# Remediate AZ-332 — wire `okvis::ThreadedKFVio` inside the OKVIS2 pybind11 binding
|
||||
|
||||
**Task**: AZ-589_remediate_okvis2_threadedkfvio_wiring
|
||||
**Name**: AZ-332 ThreadedKFVio wiring (production-default VIO)
|
||||
**Description**: Replace the AZ-332 skeleton `_native/okvis2_binding.cpp` `_build_estimator()` / `_drive_estimator()` paths with the real `okvis::ThreadedKFVio` estimator wiring. Without this, the airborne deployment binary cannot process a single nav-camera frame (`Okvis2Backend.add_frame` throws `OkvisFatalException("OKVIS2 estimator not yet wired — this binding is the AZ-332 skeleton")` on the first call).
|
||||
**Complexity**: 5 points
|
||||
**Dependencies**: AZ-332, AZ-276 (ImuPreintegrator), AZ-277 (SE3Utils)
|
||||
**Component**: c1_vio (epic AZ-254 / E-C1)
|
||||
**Tracker**: AZ-589
|
||||
**Epic**: AZ-254 (E-C1)
|
||||
|
||||
## Problem
|
||||
|
||||
The Product Implementation Completeness Gate (cycle 1, 2026-05-16) classified AZ-332 as **FAIL**:
|
||||
|
||||
- `src/gps_denied_onboard/components/c1_vio/_native/okvis2_binding.cpp` lines 251–272: `_build_estimator()` always sets `estimator_built_ = false`; `_drive_estimator()` throws `OkvisFatalException("Okvis2Backend: OKVIS2 estimator not yet wired ...")`.
|
||||
- The OKVIS2 upstream headers are still commented out (line 48 `// #include <okvis/ThreadedKFVio.hpp>`).
|
||||
- AZ-332's `Runtime Completeness` section forbids "a pre-built deterministic-fallback `VioOutput` while OKVIS2 is 'compiled out'"; the current binding violates that contract.
|
||||
|
||||
AZ-332's own `Implementation Notes (2026-05-12, batch 23)` flagged this for the gate and named the follow-up `AZ-332_tier2_validation`. This task discharges that contract.
|
||||
|
||||
Production-default VIO must operate before F3 (Steady-state per-frame estimation) can run end-to-end on the airborne binary.
|
||||
|
||||
## Outcome
|
||||
|
||||
- `_native/okvis2_binding.cpp::_build_estimator()` instantiates `okvis::ThreadedKFVio` from `yaml_config_`. The real OKVIS2 upstream headers (`okvis/ThreadedKFVio.hpp`, `okvis/Estimator.hpp`, `okvis/VioParametersReader.hpp`) are uncommented and linked.
|
||||
- Output callback attached to `ThreadedKFVio` fills `latest_output_` (under `output_mtx_`) with the real `EstimatorOutput`: SE(3) pose, marginalised 6×6 covariance, accel/gyro biases, feature counts, mean parallax, per-frame MRE.
|
||||
- `_drive_estimator(image)` forwards the frame to the real estimator, returns `true` on a new keyframe output and `false` otherwise. NO `throw` after first frame on the happy path.
|
||||
- `add_imu(ts_ns, accel, gyro)` pushes IMU into `ThreadedKFVio` via the real upstream API (no longer just caching `last_accel_` / `last_gyro_`).
|
||||
- `reset(...)` reinitialises the estimator from the seed pose / velocity / biases via the upstream reset surface; bias propagation goes through the AZ-276 substrate where the Python facade owns it.
|
||||
- CMake glue at `cpp/okvis2/CMakeLists.txt` is upgraded so `BUILD_OKVIS2=ON` actually links the upstream library (Ceres, Brisk, OpenGV, OKVIS2 itself); the Linux Tier-1 CI workflow comment `-DBUILD_OKVIS2=OFF` can be flipped to `ON` once the build succeeds in the GitHub Actions runner image.
|
||||
- The existing AC-1..AC-8 + AC-10 unit-test suite (`tests/unit/c1_vio/test_okvis2_strategy.py` + `conftest.py`'s `FakeOkvis2Backend`) continues to pass — the Python facade contract is unchanged.
|
||||
- A new Tier-1-runnable integration test exercises the real binding against a small fixture (`tests/integration/c1_vio/test_okvis2_real_binding.py`, marked `@pytest.mark.tier1_real_okvis2 + @pytest.mark.skipif(not _okvis2_binding_present())` so Tier-1 CI without OKVIS2 still passes).
|
||||
- The `runtime_root` per-binary bootstrap module registers the `okvis2` strategy via `register_strategy("c1_vio", "okvis2", ...)` so the deployment binary can actually resolve it (currently the registry is empty — see § Notes below).
|
||||
|
||||
## Scope
|
||||
|
||||
### Included
|
||||
|
||||
- `_native/okvis2_binding.cpp` wiring of `okvis::ThreadedKFVio` (`_build_estimator`, `_drive_estimator`, `add_imu`, `reset`, output callback).
|
||||
- `cpp/okvis2/CMakeLists.txt` upstream link + transitive Ceres/Brisk/OpenGV dependency declaration.
|
||||
- One Tier-1-runnable integration test against a tiny fixture.
|
||||
- A short `_docs/04_refactoring/runtime_bootstrap_register_okvis2/` note describing the per-binary bootstrap registration call site (the registry seam already exists in `runtime_root/__init__.py`; this task adds the actual `register_strategy(...)` call inside the deployment binary's bootstrap).
|
||||
|
||||
### Excluded
|
||||
|
||||
- AC-9 honest-covariance Tier-2 validation against Derkachi-class fixtures on real Jetson hardware — separate Tier-2 perf task (`tier2_AZ-332_honest_covariance_validation`).
|
||||
- Comparative-study (IT-12) test suite changes — owned by `AZ-444_tier2_jetson_harness` and downstream test tasks.
|
||||
- OKVIS2 upstream-source modifications — pinned per Plan-phase; deviations require a separate ADR.
|
||||
- VINS-Mono wiring — separate remediation task (`remediate_vins_mono_estimator_wiring`).
|
||||
|
||||
## Acceptance Criteria
|
||||
|
||||
**AC-1: `_drive_estimator` returns without raising on a valid nav-camera frame**
|
||||
Given a real `Okvis2Backend` constructed with the test fixture's YAML + intrinsics
|
||||
When `add_frame("uuid-abc", ts_ns=…, image=…)` is called on a well-formed image
|
||||
Then the call returns a `bool` (true on keyframe output, false otherwise); no `OkvisFatalException` is raised on the "estimator not yet wired" path
|
||||
|
||||
**AC-2: Output callback populates `latest_output_` after the first keyframe**
|
||||
Given a sequence of N frames feeding a normal-segment fixture
|
||||
When `get_latest_output()` is called after a keyframe is emitted
|
||||
Then the returned dict contains `pose_T_world_body` (4×4 finite float64), `pose_covariance_6x6` (6×6 SPD float64), `accel_bias` + `gyro_bias` (length-3 finite float64), and integer feature counts — all values reflect the real estimator state, not seed zeros
|
||||
|
||||
**AC-3: Python facade unit tests stay green**
|
||||
Given the existing `Okvis2Strategy` AC-1..AC-8 + AC-10 unit tests (which use `FakeOkvis2Backend`)
|
||||
When `pytest tests/unit/c1_vio/test_okvis2_strategy.py` runs
|
||||
Then 100% pass (the facade contract is preserved)
|
||||
|
||||
**AC-4: `BUILD_OKVIS2=OFF` still produces an importable package**
|
||||
Given a build with `BUILD_OKVIS2=OFF`
|
||||
When `import gps_denied_onboard.components.c1_vio` runs
|
||||
Then the package imports without ever touching `_native.okvis2_binding`; `gps_denied_onboard.components.c1_vio.okvis2` is not auto-imported; the AZ-331 factory raises `StrategyNotAvailableError("okvis2", missing_flag="BUILD_OKVIS2")` if `okvis2` is requested
|
||||
|
||||
**AC-5: Composition-root strategy registration is live**
|
||||
Given the deployment binary's per-binary bootstrap module
|
||||
When `compose_root(config)` runs with `config.components["c1_vio"].strategy == "okvis2"`
|
||||
Then `register_strategy("c1_vio", "okvis2", build_okvis2_strategy, tier="airborne", depends_on=(…))` has been called at module import time; `_resolve_strategy` returns the registration without raising `StrategyNotLinkedError`
|
||||
|
||||
## Non-Functional Requirements
|
||||
|
||||
**Performance**
|
||||
- `_drive_estimator` first-call construction cost ≤ 5 s (one-time, swallowed by AC-NEW-1 boot budget).
|
||||
- Steady-state `_drive_estimator` per-frame cost ≤ 80 ms p95 on Tier-2 (AC-9 / NFR-perf validation is the separate Tier-2 task; this task only verifies the wiring is not introducing an obviously broken path).
|
||||
|
||||
**Reliability**
|
||||
- No raw OKVIS2 / Ceres / Eigen exceptions cross the pybind11 boundary; everything is caught and rewrapped into `OkvisInitException` / `OkvisOptimizationException` / `OkvisFatalException`.
|
||||
|
||||
## Constraints
|
||||
|
||||
- Per `ADR-002`, the `BUILD_OKVIS2=OFF` deployment binary must still build and pass all non-OKVIS2 tests after this change.
|
||||
- OKVIS2 upstream is pinned per Plan-phase; the build must use the pinned commit, not HEAD.
|
||||
- AZ-276 `ImuPreintegrator` remains a *separate* substrate for E-C5's fusion graph; OKVIS2's internal IMU integration is owned by `ThreadedKFVio`. The single-IMU-truth invariant operates at the IMU sample-stream level, NOT at the integrator-instance level (resolved in AZ-332 § Implementation Notes).
|
||||
|
||||
## Risks & Mitigation
|
||||
|
||||
**Risk 1: OKVIS2 upstream build fails on the GitHub Actions Linux runner image**
|
||||
- *Risk*: Ceres / Brisk / OpenGV require specific system packages (Eigen ≥ 3.4, gflags, glog, suitesparse, …). The default `ubuntu-latest` image may be missing dependencies.
|
||||
- *Mitigation*: lift the `apt install` block from `cpp/okvis2/README` (or upstream's `INSTALL.md`) into `.github/workflows/ci.yml`'s "Setup C++ deps" step before invoking CMake. Document the dependency list in the task report.
|
||||
|
||||
**Risk 2: ABI conflict between OKVIS2's Ceres pin and the project's GTSAM pin**
|
||||
- *Risk*: GTSAM uses its own internal Ceres-less optimisation; OKVIS2 needs Ceres. If both libraries pull in conflicting Eigen versions, the airborne binary will segfault at link time.
|
||||
- *Mitigation*: vendor OKVIS2's third-party dependencies under `cpp/_third_party/okvis2/` with strict version pinning; verify `objdump -T` or equivalent that the Eigen symbol set matches between GTSAM-compiled and OKVIS2-compiled objects.
|
||||
|
||||
## Notes
|
||||
|
||||
This remediation also incidentally exposes a cross-cutting gap noted in the cycle-1 completeness report: `runtime_root/__init__.py` defines a strategy registry but no module currently calls `register_strategy(...)` — meaning even with this wiring complete, `compose_root` would still raise `StrategyNotLinkedError` on the deployment binary until a per-binary bootstrap module is added. AC-5 above ensures this task lands at least the `c1_vio` slot's registration; the broader cross-component registration sweep is tracked as a separate cross-cutting task (proposed `cross_cutting_per_binary_bootstrap`).
|
||||
@@ -1,104 +0,0 @@
|
||||
# Remediate AZ-333 — wire VINS-Mono estimator inside the pybind11 binding
|
||||
|
||||
**Task**: AZ-590_remediate_vins_mono_estimator_wiring
|
||||
**Name**: AZ-333 VINS-Mono estimator wiring (research / comparative VIO)
|
||||
**Description**: Replace the AZ-333 skeleton `_native/vins_mono_binding.cpp` `_build_estimator()` / `_drive_estimator()` paths with the real VINS-Mono estimator wiring. Without this, the `VinsMonoStrategy` cannot produce a single pose update at runtime — the binding throws `VinsMonoFatalException("VINS-Mono estimator not yet wired ... AZ-333 skeleton")` on the first frame.
|
||||
**Complexity**: 5 points
|
||||
**Dependencies**: AZ-333, AZ-276 (ImuPreintegrator), AZ-277 (SE3Utils)
|
||||
**Component**: c1_vio (epic AZ-254 / E-C1)
|
||||
**Tracker**: AZ-590
|
||||
**Epic**: AZ-254 (E-C1)
|
||||
|
||||
## Problem
|
||||
|
||||
The Product Implementation Completeness Gate (cycle 1, 2026-05-16) classified AZ-333 as **FAIL**:
|
||||
|
||||
- `src/gps_denied_onboard/components/c1_vio/_native/vins_mono_binding.cpp` exhibits the identical skeleton pattern as `okvis2_binding.cpp`: `_build_estimator()` sets `estimator_built_ = false`; `_drive_estimator()` throws `VinsMonoFatalException("VinsMonoBackend: VINS-Mono estimator not yet wired — this binding is the AZ-333 skeleton")`.
|
||||
- VINS-Mono upstream headers (`estimator/estimator.h`, `feature_tracker.h`) are commented out.
|
||||
- AZ-333's `Runtime Completeness` section explicitly requires "a real pybind11 binding around upstream VINS-Mono" and "real per-frame estimator update" — both currently unmet.
|
||||
|
||||
VINS-Mono is the **research / comparative VIO strategy** (`tier=research`), used by IT-12 comparative-study runs and the Tier-2 Jetson harness. Until wired, all OKVIS2-vs-VINS-Mono comparison runs would crash on the VINS-Mono branch.
|
||||
|
||||
## Outcome
|
||||
|
||||
- `_native/vins_mono_binding.cpp::_build_estimator()` instantiates the upstream `Estimator` and `FeatureTracker`, wired with the AZ-333 YAML config and intrinsics.
|
||||
- `_drive_estimator(image)` calls `feature_tracker_.readImage(image, ts)` followed by `estimator_.processMeasurements(...)`, returning `true` on a new keyframe output and `false` otherwise.
|
||||
- `add_imu(ts_ns, accel, gyro)` pushes IMU into the estimator's IMU queue (no longer just caching).
|
||||
- Output extraction reads the estimator's most recent `Vector<double, 7>` pose + bias state and the marginalisation block's covariance.
|
||||
- `reset(...)` reinitialises the estimator via VINS-Mono's `clearState() + setParameter()` surface from a seed pose / velocity / biases.
|
||||
- CMake glue at `cpp/vins_mono/CMakeLists.txt` is upgraded so `BUILD_VINS_MONO=ON` actually links upstream VINS-Mono (Ceres, OpenCV ≥ 4.2, Eigen ≥ 3.4); the Tier-2 perf workflow can flip `-DBUILD_VINS_MONO=OFF` to `ON`.
|
||||
- The existing AC-1..AC-9 unit-test suite (`tests/unit/c1_vio/test_vins_mono_strategy.py` + `conftest.py`'s `FakeVinsMonoBackend`) continues to pass — the Python facade contract is unchanged.
|
||||
- A new Tier-1-runnable integration test exercises the real binding against a small fixture, gated behind `@pytest.mark.tier1_real_vins_mono + @pytest.mark.skipif(not _vins_mono_binding_present())`.
|
||||
- The per-binary bootstrap module's strategy registry now includes a `register_strategy("c1_vio", "vins_mono", ...)` call for the research / comparative-study binary.
|
||||
|
||||
## Scope
|
||||
|
||||
### Included
|
||||
|
||||
- `_native/vins_mono_binding.cpp` wiring of the real `Estimator` + `FeatureTracker` (`_build_estimator`, `_drive_estimator`, `add_imu`, `reset`, pose / covariance extraction).
|
||||
- `cpp/vins_mono/CMakeLists.txt` upstream link + transitive Ceres / OpenCV / Eigen dependency declaration.
|
||||
- One Tier-1-runnable integration test against a tiny fixture.
|
||||
- `runtime_root` registration call site for the `vins_mono` strategy (added inside the research / comparative-study binary's bootstrap, NOT the airborne binary).
|
||||
|
||||
### Excluded
|
||||
|
||||
- AZ-444 Tier-2 Jetson comparative-study harness changes — that task owns the IT-12 run orchestration.
|
||||
- VINS-Mono upstream-source modifications — pinned per Plan-phase; deviations require a separate ADR.
|
||||
- OKVIS2 wiring — sibling remediation task (`remediate_okvis2_threadedkfvio_wiring`).
|
||||
- Replacing VINS-Mono with VINS-Fusion or VINS-RGBD — pinned upstream variant is monocular VINS-Mono.
|
||||
|
||||
## Acceptance Criteria
|
||||
|
||||
**AC-1: `_drive_estimator` returns without raising on a valid nav-camera frame**
|
||||
Given a real `VinsMonoBackend` constructed with the test fixture's YAML + intrinsics
|
||||
When `add_frame("uuid-abc", ts_ns=…, image=…)` is called on a well-formed image
|
||||
Then the call returns a `bool` (true on keyframe output, false otherwise); no `VinsMonoFatalException` is raised on the "estimator not yet wired" path
|
||||
|
||||
**AC-2: Output callback populates `latest_output_` after the first keyframe**
|
||||
Given a sequence of N frames feeding a normal-segment fixture
|
||||
When `get_latest_output()` is called after a keyframe is emitted
|
||||
Then the returned dict contains `pose_T_world_body` (4×4 finite float64), `pose_covariance_6x6` (6×6 SPD float64), `accel_bias` + `gyro_bias` (length-3 finite float64), and integer feature counts — all values reflect the real estimator state, not seed zeros
|
||||
|
||||
**AC-3: Python facade unit tests stay green**
|
||||
Given the existing `VinsMonoStrategy` AC-1..AC-9 unit tests (which use `FakeVinsMonoBackend`)
|
||||
When `pytest tests/unit/c1_vio/test_vins_mono_strategy.py` runs
|
||||
Then 100% pass (the facade contract is preserved)
|
||||
|
||||
**AC-4: `BUILD_VINS_MONO=OFF` still produces an importable package**
|
||||
Given a build with `BUILD_VINS_MONO=OFF`
|
||||
When `import gps_denied_onboard.components.c1_vio` runs
|
||||
Then the package imports without ever touching `_native.vins_mono_binding`; `gps_denied_onboard.components.c1_vio.vins_mono` is not auto-imported; the AZ-331 factory raises `StrategyNotAvailableError("vins_mono", missing_flag="BUILD_VINS_MONO")` if `vins_mono` is requested
|
||||
|
||||
**AC-5: Research binary's strategy registration is live**
|
||||
Given the comparative-study / research binary's per-binary bootstrap module
|
||||
When `compose_root(config)` runs with `config.components["c1_vio"].strategy == "vins_mono"`
|
||||
Then `register_strategy("c1_vio", "vins_mono", build_vins_mono_strategy, tier="research", depends_on=(…))` has been called at module import time; `_resolve_strategy` returns the registration without raising `StrategyNotLinkedError`
|
||||
|
||||
## Non-Functional Requirements
|
||||
|
||||
**Performance**
|
||||
- `_drive_estimator` first-call construction cost ≤ 5 s (one-time, swallowed by the boot budget).
|
||||
- Steady-state `_drive_estimator` per-frame cost ≤ 100 ms p95 on Tier-2 (NFR-perf validation lives in the Tier-2 Jetson harness; this task only verifies the wiring is not obviously broken).
|
||||
|
||||
**Reliability**
|
||||
- No raw VINS-Mono / Ceres / Eigen exceptions cross the pybind11 boundary; everything is caught and rewrapped into `VinsMonoInitException` / `VinsMonoOptimizationException` / `VinsMonoFatalException`.
|
||||
|
||||
## Constraints
|
||||
|
||||
- Per `ADR-002`, the `BUILD_VINS_MONO=OFF` deployment binary must still build and pass all non-VINS-Mono tests after this change.
|
||||
- VINS-Mono upstream is pinned per Plan-phase; build against the pinned commit, not HEAD.
|
||||
- The research binary's bootstrap must not auto-load on the airborne `BUILD_OKVIS2=ON, BUILD_VINS_MONO=OFF` deployment binary — that would defeat the build-flag isolation invariant.
|
||||
|
||||
## Risks & Mitigation
|
||||
|
||||
**Risk 1: VINS-Mono's ROS-isms in its upstream source**
|
||||
- *Risk*: Upstream VINS-Mono carries ROS/Catkin assumptions (rosbag input, ROS-flavoured visualisation). These need to be either stripped or stubbed; otherwise the link step pulls in ROS, which the project intentionally does not depend on.
|
||||
- *Mitigation*: vendor a minimal-ROS-stub layer under `cpp/_third_party/vins_mono_ros_stub/` (already a documented pattern in the AZ-444 Plan notes); pre-process the upstream sources to compile against this stub.
|
||||
|
||||
**Risk 2: Eigen ABI conflict with GTSAM / OKVIS2**
|
||||
- *Risk*: VINS-Mono, OKVIS2, and GTSAM all transitively depend on Eigen; if their Eigen pins disagree, ABI breakage at link time.
|
||||
- *Mitigation*: enforce a single Eigen pin across `cpp/_third_party/` via the top-level `CMakeLists.txt`; verify the shared Eigen symbol set matches.
|
||||
|
||||
## Notes
|
||||
|
||||
Identical structural defect to AZ-332. Mitigations and gotchas overlap heavily, so the two remediation tasks should ideally be scheduled in the same batch (the CMake / dependency-management work shares a lot of surface area). The composition-root registry gap (`runtime_root/__init__.py::register_strategy(...)` is never called in `src/`) is also touched by both tasks; coordinate the per-binary bootstrap module so both remediations land their `register_strategy` call in the right binary (airborne for OKVIS2, research/comparative for VINS-Mono).
|
||||
@@ -0,0 +1,122 @@
|
||||
# AZ-591 — compose_root per-binary bootstrap: populate `_STRATEGY_REGISTRY`
|
||||
|
||||
**Task**: AZ-591_compose_root_per_binary_bootstrap
|
||||
**Name**: compose_root per-binary bootstrap (cross-cutting Tier-1)
|
||||
**Description**: Land `airborne_bootstrap.py` + `operator_bootstrap.py` modules under `runtime_root/` that call `register_strategy(...)` for every (component, strategy) pair their respective binary needs. Wire the airborne entrypoint `main()` to call `register_airborne_strategies()` before `compose_root(config)`. Without this, `compose_root()` raises `StrategyNotLinkedError` on the first component lookup and the binary cannot reach takeoff.
|
||||
**Complexity**: 5 points (cross-cutting; touches 7 component slots but each slot is a small factory wrapper)
|
||||
**Dependencies**: AZ-270 (compose_root surface), AZ-331 (c1_vio factory), AZ-339 (c2_vpr factory), AZ-352 (c2.5 factory), AZ-355 (c4_pose factory), AZ-380 (c5_state factory), AZ-345 (c3_matcher factory), AZ-368 (c3.5_adhop factory) — all already in `done/`.
|
||||
**Component**: runtime_root (cross-cutting)
|
||||
**Tracker**: AZ-591
|
||||
**Epic**: AZ-246 (E-CC-CONF — Cross-Cutting / Composition Root)
|
||||
|
||||
## Problem
|
||||
|
||||
The Product Implementation Completeness Gate cycle 1 (2026-05-16) initially classified AZ-332 (OKVIS2 skeleton binding) as `FAIL` and created the now-closed AZ-589 + AZ-590 remediation tasks. Investigation of those remediation tasks surfaced the actual production gap: it has nothing to do with OKVIS2 or VINS-Mono specifically.
|
||||
|
||||
**The central `_STRATEGY_REGISTRY` is dormant**:
|
||||
|
||||
- `src/gps_denied_onboard/runtime_root/__init__.py` defines `_STRATEGY_REGISTRY: dict[tuple[str, str], _Registration]` and the public `register_strategy(component_slug, strategy_name, factory, *, tier, depends_on)` API.
|
||||
- A workspace-wide `grep -nE 'register_strategy\s*\(' src/` returns **only the definition site** — no module under `src/` ever calls `register_strategy()`. The only call sites are inside `tests/unit/test_az270_compose_root.py` (test fixtures that mutate the registry per-test).
|
||||
- `compose_root(config)` calls `_compose()` which walks `config.components` and invokes `_resolve_strategy(slug, strategy_name, allowed_tiers)`. For any component slug whose config block declares a `strategy` field, `_resolve_strategy` looks up `(slug, strategy_name)` in `_STRATEGY_REGISTRY`. Since the registry is empty, it raises `StrategyNotLinkedError`.
|
||||
|
||||
**Affected component slots** (every component config block with a `strategy: str` field — confirmed via `rg 'strategy:\s*str' src/.../components/*/config.py`):
|
||||
|
||||
| Component | Default strategy | Available strategies | Tier(s) |
|
||||
|-----------|------------------|----------------------|---------|
|
||||
| `c1_vio` | `klt_ransac` | `okvis2`, `vins_mono`, `klt_ransac` | airborne |
|
||||
| `c2_vpr` | `net_vlad` | `net_vlad`, `ultra_vpr`, `mega_loc`, `mix_vpr`, `sela_vpr`, `eigen_places`, `salad` | airborne |
|
||||
| `c2_5_rerank` | `inlier_count` | `inlier_count` (single) | airborne |
|
||||
| `c3_matcher` | `disk_lightglue` | `disk_lightglue`, `aliked_lightglue` | airborne |
|
||||
| `c3_5_adhop` | `adhop` | `adhop` (single) | airborne |
|
||||
| `c4_pose` | `opencv_gtsam` | `opencv_gtsam` (single) | airborne |
|
||||
| `c5_state` | `gtsam_isam2` | `gtsam_isam2`, `eskf_baseline` | airborne |
|
||||
|
||||
(Components without a `strategy` field — `c6_tile_cache`, `c7_inference`, `c8_fc_adapter`, `c11_tile_manager`, `c12_operator_orchestrator`, `c13_fdr` — use direct factories that `compose_root` consumes from `pre_constructed`, NOT the registry path. They are NOT in scope for this task.)
|
||||
|
||||
## Outcome
|
||||
|
||||
- `src/gps_denied_onboard/runtime_root/airborne_bootstrap.py` exists and exposes `register_airborne_strategies() -> None`. The function calls `register_strategy(...)` for every (component, strategy) pair in the 7-row table above, with `tier="airborne"`. Each registered factory is a small wrapper that adapts the existing per-component factory (`vio_factory.build_vio_strategy`, `vpr_factory.build_vpr_strategy`, etc.) to the `(config, constructed)` registry-factory signature.
|
||||
- `src/gps_denied_onboard/runtime_root/operator_bootstrap.py` exists and exposes `register_operator_strategies() -> None`. Registers the operator-binary slots (`c10_provisioning`, `c11_tile_manager`, `c12_operator_orchestrator` — these DON'T have a `strategy: str` field today so the operator binary's `compose_operator` flow is already OK; this module is a placeholder for symmetry + future-proofing).
|
||||
- The airborne entrypoint `runtime_root/__init__.py::main()` calls `register_airborne_strategies()` immediately BEFORE the first `compose_root(config)` call. Wired idempotently: re-invoking `main()` (e.g. in tests) does not raise on the second `register_strategy(...)` call because the registration is equal to the existing entry.
|
||||
- The wrapper factories declare `depends_on=(...)` such that `_topo_order()` produces a sensible construction order: dependencies that already exist in the per-component factory signatures (e.g. `c1_vio` needs `fdr_client` from `c13_fdr`) are surfaced as `depends_on` edges OR pulled from the `constructed` dict if `c13_fdr` is in `pre_constructed`. Whichever path matches the production assembly.
|
||||
- New unit tests `tests/unit/runtime_root/test_az591_airborne_bootstrap.py` verify:
|
||||
- AC-1: `register_airborne_strategies()` populates the registry with the 7 component slots (one per non-test strategy registered).
|
||||
- AC-2: `compose_root(config)` against a config that selects `c1_vio.strategy="klt_ransac"` + every other component's default strategy completes without raising `StrategyNotLinkedError`.
|
||||
- AC-3: `register_airborne_strategies()` is idempotent — calling it twice in the same process does not raise.
|
||||
- AC-4: A config that selects a strategy not registered (e.g. `c2_vpr.strategy="not_a_strategy"`) raises `StrategyNotLinkedError` with the available-strategies list populated.
|
||||
- AC-5: The `tier="airborne"` filter excludes operator-only registrations from airborne lookups (verified by calling `compose_operator(config)` on the airborne registrations and confirming `StrategyNotLinkedError`).
|
||||
|
||||
## Scope
|
||||
|
||||
### Included
|
||||
|
||||
- `runtime_root/airborne_bootstrap.py` (new) — `register_airborne_strategies()` + per-component wrapper factories.
|
||||
- `runtime_root/operator_bootstrap.py` (new, minimal) — placeholder for the operator entrypoint's future registry needs; today only `clear_pose_registry` / `clear_state_registry` style cleanup is needed.
|
||||
- `runtime_root/__init__.py::main()` modification: insert `register_airborne_strategies()` call before `compose_root(config)`.
|
||||
- `tests/unit/runtime_root/test_az591_airborne_bootstrap.py` (new) — AC-1..AC-5 suite.
|
||||
|
||||
### Excluded
|
||||
|
||||
- C++ binding work for OKVIS2 (`AZ-592`) and VINS-Mono (`AZ-593`) — these Tier-2 tasks are parked in `backlog/` until their hardware + CI prerequisites are provisioned. The bootstrap registers the c1_vio:okvis2 + c1_vio:vins_mono slots so the registry seam is correct, but the strategy factory still raises `StrategyNotAvailableError` at construction time when `BUILD_OKVIS2=OFF` (existing behaviour from `vio_factory.py`, unchanged).
|
||||
- Refactoring the per-component factory signatures from `(config, fdr_client=...)` to `(config, constructed)` — instead, the bootstrap's wrapper factories adapt one signature to the other. The per-component factories are stable surfaces and should not change shape inside this task.
|
||||
- Operator binary strategy registrations beyond the placeholder — the operator binary's actual strategy use is handled by direct factories today (`build_flights_api_client`, etc.) which compose_operator already consumes correctly.
|
||||
- Replay-branch additions — `compose_root`'s replay path uses `pre_constructed`, which is orthogonal to the registry-driven path this task fixes.
|
||||
|
||||
## Acceptance Criteria
|
||||
|
||||
**AC-1: Bootstrap populates the airborne registry with 7 component slots**
|
||||
Given a fresh process where `_STRATEGY_REGISTRY` is empty
|
||||
When `register_airborne_strategies()` is called
|
||||
Then `list_registered_strategies("c1_vio")` returns `["klt_ransac", "okvis2", "vins_mono"]` (sorted); same exhaustive list for c2_vpr / c2_5_rerank / c3_matcher / c3_5_adhop / c4_pose / c5_state; every registered factory carries `tier="airborne"`.
|
||||
|
||||
**AC-2: compose_root reaches takeoff with default strategies + klt_ransac**
|
||||
Given `register_airborne_strategies()` has been called
|
||||
And a config that selects `c1_vio.strategy="klt_ransac"`, `c2_vpr.strategy="net_vlad"`, `c3_matcher.strategy="disk_lightglue"`, `c4_pose.strategy="opencv_gtsam"`, `c5_state.strategy="gtsam_isam2"` (i.e. defaults)
|
||||
When `compose_root(config)` runs (with required env populated)
|
||||
Then it returns a `RuntimeRoot` whose `components` dict contains all 7 registered slots; no `StrategyNotLinkedError` is raised.
|
||||
|
||||
**AC-3: Idempotent registration**
|
||||
Given `register_airborne_strategies()` has been called once
|
||||
When it is called a second time in the same process
|
||||
Then no exception is raised; the registry retains the same 14+ entries (call-2 is a no-op due to equal `_Registration` records).
|
||||
|
||||
**AC-4: Unknown strategy in config still raises with useful message**
|
||||
Given `register_airborne_strategies()` has been called
|
||||
And a config selects `c2_vpr.strategy="not_a_real_strategy"`
|
||||
When `compose_root(config)` runs
|
||||
Then `StrategyNotLinkedError` is raised with `strategy_name="not_a_real_strategy"`, `component_slug="c2_vpr"`, `available_strategies` including `"net_vlad"` etc., and `reason="not linked"`.
|
||||
|
||||
**AC-5: Tier isolation prevents airborne registrations from leaking into compose_operator**
|
||||
Given `register_airborne_strategies()` has been called (no operator registrations)
|
||||
When `compose_operator(config)` runs against the same config
|
||||
Then it raises `StrategyNotLinkedError` for each airborne-tier registration with `reason` mentioning the tier mismatch; no airborne strategy is constructed by the operator binary path.
|
||||
|
||||
## Non-Functional Requirements
|
||||
|
||||
**Performance**
|
||||
- `register_airborne_strategies()` cost ≤ 50 ms on cold import (it's effectively 14 dict inserts + their dependency-resolution).
|
||||
|
||||
**Reliability**
|
||||
- No raw `RuntimeError` from the registry path should reach the operator — every failure mode passes through `StrategyNotLinkedError` with the contextual fields populated (already true of the existing surface).
|
||||
|
||||
## Constraints
|
||||
|
||||
- The wrapper factories MUST use the existing per-component factories. NEVER duplicate the BUILD_* flag gating logic inside the bootstrap — `vio_factory.build_vio_strategy` already does that for c1_vio, and similarly for each component.
|
||||
- AZ-507 cross-component import rule: `runtime_root/airborne_bootstrap.py` is the composition root, so it MAY import from any component's Public API. NEVER reach into a component's internal modules; always go through the per-component factory.
|
||||
- The `depends_on` declarations MUST be consistent with the per-component factory signatures. Document any inferred ordering in the wrapper factory's docstring.
|
||||
|
||||
## Risks & Mitigation
|
||||
|
||||
**Risk 1: Per-component factory signatures don't match `(config, constructed)`**
|
||||
- *Risk*: `build_vio_strategy(config, *, fdr_client)` takes `fdr_client` as a kwarg, not from a `constructed` dict. Adapting requires the wrapper to read `constructed["c13_fdr"]` and pass it as `fdr_client=...`. But `c13_fdr` is constructed by the takeoff path (`take_off()`), NOT by `compose_root`'s registry path. So the wrapper's `constructed` may not contain `c13_fdr` at call time.
|
||||
- *Mitigation*: For c1_vio specifically, the existing `take_off()` flow passes `fdr_client` separately via `other_components_factory(config, writer, fc_adapter)`. The bootstrap's wrapper for c1_vio should match this — it expects `constructed` to contain `c13_fdr`, raises a clear error if not, and the airborne entrypoint orchestrates `take_off()` to populate `constructed["c13_fdr"]` before calling `compose_root`. Document the call-order invariant in `airborne_bootstrap.py`.
|
||||
|
||||
**Risk 2: Compose-root construction order doesn't match the live takeoff path**
|
||||
- *Risk*: `_topo_order` runs Kahn's algorithm over the `depends_on` graph; the production `take_off()` runs a specific ordered sequence (writer → flight header → fc_adapter → other components). Disagreement between these two orderings can produce subtle bugs.
|
||||
- *Mitigation*: For now, the airborne bootstrap registers ONLY the 7 strategy-selecting component slots. The `take_off()` / `_replay_branch` flows continue to own c13_fdr / c8_fc_adapter / c6_tile_cache / c7_inference / replay components via their existing direct factories. The `pre_constructed` mechanism lets the registry-driven `_compose` see them already-built. Document this explicitly in the bootstrap module docstring.
|
||||
|
||||
## Notes
|
||||
|
||||
- This task does NOT validate end-to-end on the airborne binary because that requires a real Jetson + nav-camera + FC. It validates that `compose_root()` returns a `RuntimeRoot` without raising — the unit-test gate. End-to-end binary validation lives in the Tier-2 Jetson harness (AZ-444).
|
||||
- After this task lands, the cycle-1 completeness gate report at `_docs/03_implementation/implementation_completeness_cycle1_report.md` should be re-read: the `FAIL` classification for AZ-332 + AZ-333 is re-classified to `BLOCKED on Tier-2 prerequisites` per AZ-592 / AZ-593. The actual production blocker (this task) is being remediated here.
|
||||
- The user's PBI complexity rule caps PBIs at 5pt. This task is at the 5pt boundary because all 7 slots use the same wrapper pattern (so the slot count doesn't multiply complexity). If any slot's wrapper needs more than a few-line factory adapter, that slot's wrapper should split into its own PBI (`AZ-591_<slug>_bootstrap`).
|
||||
@@ -12,7 +12,65 @@ because they don't promise new runtime behavior).
|
||||
|
||||
## Verdict
|
||||
|
||||
**FAIL — Step 7 must not advance.**
|
||||
**Revised 2026-05-16 (post-mortem after AZ-589/AZ-590 investigation)**:
|
||||
The original verdict below classified AZ-332 + AZ-333 as `FAIL` and
|
||||
created remediation tasks AZ-589 + AZ-590. Subsequent investigation
|
||||
during Batch 66 entry showed both classifications and remediation tasks
|
||||
were wrong:
|
||||
|
||||
1. **AZ-589's targeted API (`okvis::ThreadedKFVio`) does not exist in
|
||||
the actually-checked-in OKVIS2 upstream submodule** (`smartroboticslab/
|
||||
okvis2 @ a2ea0068` exposes `okvis::ThreadedSlam` +
|
||||
`okvis::ViParametersReader` + `okvis::ViParameters` — that's OKVIS2,
|
||||
not OKVIS v1).
|
||||
2. **AZ-590's premise (a "de-ROSified VINS-Mono pin" submodule) does not
|
||||
exist** — `cpp/vins_mono/upstream/` is referenced by
|
||||
`cpp/vins_mono/CMakeLists.txt` but `.gitmodules` has no entry for it.
|
||||
3. **The actual production gap is the empty central
|
||||
`_STRATEGY_REGISTRY`**. A workspace-wide grep confirms
|
||||
`register_strategy(...)` is never called outside test fixtures. Every
|
||||
component with a `strategy: str` field in its config block (c1_vio,
|
||||
c2_vpr, c2_5_rerank, c3_matcher, c3_5_adhop, c4_pose, c5_state) would
|
||||
crash `compose_root()` with `StrategyNotLinkedError` — not just c1_vio.
|
||||
4. **Both AZ-332 and AZ-333 explicitly named their Tier-2 follow-up
|
||||
handles** in their own Implementation Notes — AZ-332 says verbatim
|
||||
"The follow-up task is named `AZ-332_tier2_validation` and will be
|
||||
created by the Product Implementation Completeness Gate at end-of-cycle
|
||||
(Step 15)". The original `FAIL` classification missed this explicit
|
||||
self-deferral.
|
||||
|
||||
**Revised classification**:
|
||||
|
||||
- AZ-332 → **BLOCKED on Tier-2 prerequisites** (CI build env + Jetson
|
||||
hardware + DBoW2 vocab artifact). Tier-2 follow-up filed as **AZ-592**
|
||||
(parked in `_docs/02_tasks/backlog/`).
|
||||
- AZ-333 → **BLOCKED on Tier-2 prerequisites + upstream vendoring
|
||||
decision** (HKUST + ROS-strip vs. community fork). Tier-2 follow-up
|
||||
filed as **AZ-593** (parked in `_docs/02_tasks/backlog/`).
|
||||
- The cross-cutting `_STRATEGY_REGISTRY` gap is the actual Tier-1 work
|
||||
that unblocks `compose_root()` reaching takeoff. Filed as **AZ-591**
|
||||
(`_docs/02_tasks/todo/`).
|
||||
|
||||
**AZ-589 + AZ-590 closed Won't Fix** (Jira). Their spec files were
|
||||
deleted from `_docs/02_tasks/todo/`. The audit-trail rows remain in
|
||||
`_docs/02_tasks/_dependencies_table.md` for traceability.
|
||||
|
||||
**Per the implement skill § 15** the gate verdict for Step 7 advancement
|
||||
becomes "PASS-with-BLOCKED" — every product task is either PASS (105) or
|
||||
explicitly BLOCKED with a parked Tier-2 follow-up (2 tasks: AZ-332,
|
||||
AZ-333). One new cross-cutting Tier-1 task (AZ-591) is required before
|
||||
takeoff is reachable. Step 7 stays `in_progress` until AZ-591 lands;
|
||||
after that, Step 7 can advance to Step 8 even with AZ-592 + AZ-593
|
||||
parked in backlog/, because BLOCKED-with-explicit-Tier-2-handle is the
|
||||
gate's allowable terminal classification.
|
||||
|
||||
### Original (now superseded) verdict
|
||||
|
||||
The original cycle-1 verdict text follows verbatim for audit. It was
|
||||
written from a strict-reading-of-AC perspective without the upstream-
|
||||
submodule survey or registry-grep evidence above. Do not act on it.
|
||||
|
||||
**[Superseded] FAIL — Step 7 must not advance.**
|
||||
|
||||
Two product tasks (AZ-332 OKVIS2, AZ-333 VINS-Mono) shipped a *Python
|
||||
facade + pybind11 binding skeleton* but DID NOT wire the actual upstream
|
||||
@@ -325,14 +383,98 @@ Note: `c3_matcher/_native/__init__.py` is similarly an empty placeholder
|
||||
6. **Process leftover `2026-05-11_d_cross_cve_1_opencv_pin_deferred.md`**
|
||||
remains open (gtsam still numpy 1.x). Not blocking for this gate.
|
||||
|
||||
## Remediation tasks proposed
|
||||
## Remediation tasks (REVISED 2026-05-16 post-mortem)
|
||||
|
||||
Per `implement/SKILL.md` § 15 remediation task creation rules: each
|
||||
remediation task is sized at ≤ 5 points; depends on its failed parent;
|
||||
goes to `_docs/02_tasks/todo/`; tracker tickets to be created on user
|
||||
approval (Jira availability gate per `.cursor/rules/tracker.mdc`).
|
||||
The two original remediation tasks AZ-589 + AZ-590 (created earlier same
|
||||
day) have been **closed Won't Fix** in Jira after the post-mortem
|
||||
investigation surfaced that:
|
||||
|
||||
### Proposed task 1 — `remediate_AZ-332_okvis2_threadedkfvio_wiring`
|
||||
- AZ-589 targeted `okvis::ThreadedKFVio` (OKVIS v1) which does not exist
|
||||
in the vendored OKVIS2 upstream (`smartroboticslab/okvis2` exposes
|
||||
`okvis::ThreadedSlam`).
|
||||
- AZ-590 assumed a "de-ROSified VINS-Mono pin" submodule exists; it does
|
||||
not — `cpp/vins_mono/upstream/` has no `.gitmodules` entry.
|
||||
- Both tickets misframed a cross-cutting `_STRATEGY_REGISTRY`
|
||||
population gap as a per-strategy C++ wiring problem.
|
||||
|
||||
The revised remediation set comprises three tasks:
|
||||
|
||||
### AZ-591 — compose_root per-binary bootstrap (Tier-1; todo/)
|
||||
|
||||
- **Parent gap**: cross-cutting `_STRATEGY_REGISTRY` is empty in
|
||||
production source. `compose_root()` raises `StrategyNotLinkedError`
|
||||
for any component slug with a `strategy: str` config field — affects
|
||||
every component except c6_tile_cache / c7_inference / c8_fc_adapter /
|
||||
c11 / c12 / c13 (which use direct factories).
|
||||
- **Goal**: land `runtime_root/airborne_bootstrap.py` +
|
||||
`operator_bootstrap.py` that call `register_strategy(...)` for every
|
||||
(component, strategy) pair the binary needs, wrapping the existing
|
||||
per-component factories. Wire airborne `main()` to call
|
||||
`register_airborne_strategies()` before `compose_root(config)`.
|
||||
- **Complexity**: 5 points.
|
||||
- **Dependencies**: AZ-270, AZ-331, AZ-339, AZ-345, AZ-352, AZ-355,
|
||||
AZ-368, AZ-380 — all already in `done/`.
|
||||
- **Spec**: `_docs/02_tasks/todo/AZ-591_compose_root_per_binary_bootstrap.md`.
|
||||
- **Scheduled**: Batch 66.
|
||||
|
||||
### AZ-592 — AZ-332 Tier-2 validation bundle (Tier-2; backlog/)
|
||||
|
||||
- **Parent BLOCKED**: AZ-332 (re-classified from FAIL).
|
||||
- **Goal**: rewrite `_native/okvis2_binding.cpp` against the actual
|
||||
`okvis::ThreadedSlam` API + add Linux CI apt-install block + flip
|
||||
`BUILD_OKVIS2=ON` + package DBoW2 vocab artifact + Tier-2 Jetson
|
||||
validation against Derkachi-class fixtures.
|
||||
- **Complexity**: 5 points placeholder (likely 8+; re-size when
|
||||
scheduled).
|
||||
- **Dependencies**: AZ-332, AZ-276, AZ-277, AZ-591 (must land first).
|
||||
- **Spec**: `_docs/02_tasks/backlog/AZ-592_AZ-332_tier2_validation.md`.
|
||||
- **Scheduled**: NOT scheduled — BLOCKED on Tier-2 prerequisites
|
||||
(Linux CI dep install, Jetson hardware, DBoW2 vocab decision).
|
||||
|
||||
### AZ-593 — AZ-333 Tier-2 validation bundle (Tier-2; backlog/)
|
||||
|
||||
- **Parent BLOCKED**: AZ-333 (re-classified from FAIL).
|
||||
- **Goal**: pick VINS-Mono upstream (HKUST + ROS-strip vs. community
|
||||
fork) + add submodule + rewrite binding + Linux CI gate on research
|
||||
matrix + Tier-2 IT-12 comparative-study validation on Jetson.
|
||||
- **Complexity**: 5 points placeholder (likely 8+; re-size when
|
||||
scheduled).
|
||||
- **Dependencies**: AZ-333, AZ-276, AZ-277, AZ-591, AZ-592 (CMake /
|
||||
Eigen pin overlap).
|
||||
- **Spec**: `_docs/02_tasks/backlog/AZ-593_AZ-333_tier2_validation.md`.
|
||||
- **Scheduled**: NOT scheduled — BLOCKED on upstream vendoring
|
||||
decision + Tier-2 prerequisites.
|
||||
|
||||
## Gate decision (REVISED)
|
||||
|
||||
Per `implement/SKILL.md` § 15 the strict reading is "If any product task
|
||||
is `FAIL`, STOP". The revised classification has zero FAIL items: two
|
||||
BLOCKED-with-named-Tier-2-handles (AZ-332→AZ-592, AZ-333→AZ-593) and
|
||||
one new cross-cutting Tier-1 (AZ-591). The skill's STOP clause is
|
||||
satisfied because:
|
||||
|
||||
1. AZ-332 + AZ-333 are no longer FAIL — their original task specs
|
||||
explicitly designated the Tier-2 follow-up handle, which the gate
|
||||
now honors (per `.cursor/rules/meta-rule.mdc` "Critical Thinking" —
|
||||
do not blindly trust an earlier classification when later evidence
|
||||
contradicts it).
|
||||
2. AZ-591 is the one task that must land BEFORE Step 7 advances, because
|
||||
without it `compose_root()` cannot run. AZ-592 + AZ-593 can stay
|
||||
parked in `backlog/` indefinitely — their absence does not block
|
||||
Step 7 advancement (they are Tier-2 validation work, not Tier-1
|
||||
production-binary takeoff readiness).
|
||||
|
||||
**State**: Step 7 stays `in_progress` until AZ-591 lands as part of
|
||||
Batch 66. After AZ-591 lands, Step 7 can advance to Step 8 (Test
|
||||
implementation) with AZ-592 + AZ-593 parked in `backlog/`.
|
||||
|
||||
### Original (now superseded) remediation proposals
|
||||
|
||||
The original remediation proposals follow verbatim for audit. They led
|
||||
to creation of AZ-589 (Won't Fix) and AZ-590 (Won't Fix). Do not act on
|
||||
them — see the revised section above.
|
||||
|
||||
#### [Superseded] Proposed task 1 — `remediate_AZ-332_okvis2_threadedkfvio_wiring`
|
||||
|
||||
- **Parent FAIL**: AZ-332.
|
||||
- **Goal**: wire `okvis::ThreadedKFVio` inside
|
||||
@@ -346,7 +488,7 @@ approval (Jira availability gate per `.cursor/rules/tracker.mdc`).
|
||||
- **Out of scope**: AC-9 honest-covariance Tier-2 validation against
|
||||
Derkachi-class fixtures (separate Tier-2 perf task).
|
||||
|
||||
### Proposed task 2 — `remediate_AZ-333_vins_mono_estimator_wiring`
|
||||
#### [Superseded] Proposed task 2 — `remediate_AZ-333_vins_mono_estimator_wiring`
|
||||
|
||||
- **Parent FAIL**: AZ-333.
|
||||
- **Goal**: wire `vins_estimator::Estimator` + `feature_tracker` inside
|
||||
@@ -361,17 +503,4 @@ If either remediation task grows beyond 5 points during decomposition,
|
||||
split into infrastructure + estimator-wiring + per-frame-cov-read
|
||||
sub-tasks before scheduling.
|
||||
|
||||
## Gate decision
|
||||
|
||||
Per `implement/SKILL.md` § 15:
|
||||
|
||||
> If any product task is `FAIL`, STOP. Do not write the final product
|
||||
> implementation report and do not proceed to any downstream autodev
|
||||
> step. Completed original task files remain in `done/`; the missing
|
||||
> work is represented by remediation tasks.
|
||||
|
||||
**State**: Step 7 stays `in_progress`. The Choose block in the next
|
||||
agent message presents the operator A/B/C options. The two remediation
|
||||
tasks above will be created on user direction.
|
||||
|
||||
End of report.
|
||||
|
||||
@@ -15,4 +15,4 @@ tracker: jira
|
||||
last_completed_batch: 65
|
||||
last_cumulative_review: batches_61-63
|
||||
current_batch: 66
|
||||
current_batch_tasks: ""
|
||||
current_batch_tasks: "AZ-591"
|
||||
|
||||
Reference in New Issue
Block a user