[AZ-960] render-map: dispatch --truth loader on extension (CSV+tlog)

load_ground_truth_track now dispatches on truth_path.suffix:
- .csv → load_csv_ground_truth (AZ-894)
- else (.tlog, .bin, no ext) → load_tlog_ground_truth (AZ-697)

Removes the AZ-959 short-circuit in SubprocessReplayRunner.
_maybe_render_map so CSV-path replay jobs ship with the same
map.html artefact as tlog jobs. Both ground-truth DTOs expose
row-aligned (lat_deg, lon_deg) records so the renderer needs no
other changes.

Touches:
- src/gps_denied_onboard/cli/render_map.py: dispatch +
  source-agnostic tooltip + --truth CLI help expanded
- src/gps_denied_onboard/replay_api/app.py: workaround removed,
  truth_path resolution picks whichever input was uploaded

Tests: 44/44 green across test_az700_render_map.py +
test_az701_replay_api.py:
- 17 pre-existing render-map tests pass unchanged (AC-2)
- New test_load_ground_truth_track_dispatches_to_csv_loader (AC-1)
- New test_load_ground_truth_track_csv_propagates_schema_error
  (AC-4: malformed CSV raises ReplayInputAdapterError)
- New test_cli_renders_map_with_csv_truth (AC-1 end-to-end)
- AZ-959 test_post_replay_csv_path_returns_200... extended to
  assert map_html_url is now present (AC-3)

Bookkeeping: AZ-960 spec moved todo/ → done/, dep-table preamble
seventh bump documents the landing + AC coverage, state.md records
batch 6 complete with AZ-961 as next.

Co-authored-by: Cursor <cursoragent@cursor.com>

_docs/_autodev_state.md

@@ -8,7 +8,7 @@ status: in_progress
 sub_step:
   phase: 6
   name: implement-tasks
-  detail: "batch 6 of N: AZ-960 gps-denied-render-map CSV-truth dispatch (extends --truth loader to dispatch on extension; removes the AZ-959 _maybe_render_map workaround; unblocks UI map link for CSV uploads). Filed alongside AZ-961 (ReportContext rename, sequenced after AZ-960 to avoid re-conflict on _maybe_render_report kwargs). OKVIS2 chain (AZ-943 + AZ-951 + AZ-952) sits in todo/ but is sequenced after the Derkachi e2e flight test passes per user 2026-05-29 directive."
+  detail: "batch 6 complete: AZ-960 gps-denied-render-map CSV-truth dispatch landed (44/44 tests green across render_map + replay_api; CSV-path replay jobs now ship with map_html_url populated). Next batch 7: AZ-961 ReportContext.tlog_path → ground_truth_path rename + label fix. OKVIS2 chain (AZ-943 + AZ-951 + AZ-952) sits in todo/ but is sequenced after the Derkachi e2e flight test passes per user 2026-05-29 directive."
 retry_count: 0
 cycle: 4
 tracker: jira

src/gps_denied_onboard/cli/render_map.py

@@ -28,7 +28,10 @@ from dataclasses import dataclass
 from pathlib import Path
 from typing import Any
 
-from gps_denied_onboard.replay_input import load_tlog_ground_truth
+from gps_denied_onboard.replay_input import (
+    load_csv_ground_truth,
+    load_tlog_ground_truth,
+)
 
 __all__ = [
     "RenderInputs",
@@ -102,10 +105,20 @@ def load_estimated_track(jsonl_path: Path) -> list[tuple[float, float]]:
     return out
 
 
-def load_ground_truth_track(tlog_path: Path) -> list[tuple[float, float]]:
+def load_ground_truth_track(truth_path: Path) -> list[tuple[float, float]]:
-    """Load a ``(lat, lon)`` track from a binary tlog (AZ-697)."""
+    """Load a ``(lat, lon)`` track from binary tlog (AZ-697) or AZ-896 CSV.
-    series = load_tlog_ground_truth(tlog_path)
+
-    return [(fix.lat_deg, fix.lon_deg) for fix in series.records]
+    Dispatches on file extension: ``.csv`` → :func:`load_csv_ground_truth`,
+    anything else (``.tlog``, ``.bin``, no extension) →
+    :func:`load_tlog_ground_truth`. Both loaders return row-aligned
+    DTOs whose ``records`` expose ``lat_deg`` / ``lon_deg`` attributes,
+    so the rest of the renderer is source-agnostic.
+    """
+    if truth_path.suffix.lower() == ".csv":
+        csv_series = load_csv_ground_truth(truth_path)
+        return [(fix.lat_deg, fix.lon_deg) for fix in csv_series.records]
+    tlog_series = load_tlog_ground_truth(truth_path)
+    return [(fix.lat_deg, fix.lon_deg) for fix in tlog_series.records]
 
 
 def _bounds(
@@ -187,7 +200,7 @@ def render_map_html(
             color=_TRUTH_LINE_COLOR,
             weight=3,
             opacity=0.9,
-            tooltip="Ground truth (tlog)",
+            tooltip="Ground truth",
         ).add_to(m)
     if inputs.estimated_track:
         folium.PolyLine(
@@ -285,7 +298,12 @@ def _build_argparser() -> argparse.ArgumentParser:
         "--truth",
         type=Path,
         required=True,
-        help="Path to the binary tlog the estimator was run against.",
+        help=(
+            "Path to the ground-truth source the estimator was run "
+            "against. Accepts either a binary tlog (default for "
+            "`.tlog`/`.bin`/no-extension) or an AZ-896 schema CSV "
+            "(when the path ends in `.csv`)."
+        ),
     )
     parser.add_argument(
         "--output",

src/gps_denied_onboard/replay_api/app.py

@@ -262,16 +262,6 @@ class SubprocessReplayRunner:
         output_dir: Path,
         report_path: Path | None,
     ) -> Path | None:
-        # gps-denied-render-map only understands binary tlog truth
-        # today; CSV-truth dispatch is an AZ-700 follow-up. For now,
-        # CSV-path runs ship without a map (report + emissions still
-        # render, see _maybe_render_report).
-        if inputs.tlog_path is None:
-            _LOGGER.info(
-                "skipping map render — CSV-path runs do not yet support "
-                "the gps-denied-render-map CLI (AZ-700 follow-up)"
-            )
-            return None
         if not shutil.which(self._render_binary):
             venv_bin = Path(sys.executable).parent / self._render_binary
             if not venv_bin.exists():
@@ -283,13 +273,18 @@ class SubprocessReplayRunner:
             render_bin = str(venv_bin)
         else:
             render_bin = self._render_binary
+        # gps-denied-render-map dispatches on the --truth file
+        # extension (AZ-960) so we just pass whichever input path
+        # carried this job's ground truth.
+        truth_path = inputs.csv_path if inputs.csv_path is not None else inputs.tlog_path
+        assert truth_path is not None
         map_path = output_dir / "map.html"
         argv = [
             render_bin,
             "--estimated",
             str(emissions_path),
             "--truth",
-            str(inputs.tlog_path),
+            str(truth_path),
             "--output",
             str(map_path),
         ]

tests/unit/replay_api/test_az701_replay_api.py

@@ -709,6 +709,12 @@ def test_post_replay_csv_path_returns_200_and_dispatches_imu_flag(
     body = response.json()
     assert body["state"] == JobState.DONE.value
     assert body["sync"] is True
+    # AZ-960 AC-3: CSV-path jobs now expose a map_html_url
+    # (the fake runner writes a map.html fixture that the registry
+    # links into the snapshot).
+    assert body.get("map_html_url", "").endswith("/map"), (
+        f"expected map_html_url to point at /map; got body={body}"
+    )
     # Runner saw the csv_path branch (tlog_path is None for csv jobs)
     assert len(fake_runner.calls) == 1
     inputs = fake_runner.calls[0]

tests/unit/test_az700_render_map.py

@@ -371,3 +371,92 @@ def test_load_ground_truth_track_returns_lat_lon_pairs(tmp_path: Path) -> None:
     for lat, lon in track:
         assert 49.99 < lat < 50.01
         assert 29.99 < lon < 30.01
+
+
+# ---------------------------------------------------------------------
+# AZ-960 — CSV-path dispatch for --truth
+
+
+def _write_minimal_csv(path: Path) -> None:
+    """Write a tiny AZ-896-schema CSV with 3 GPS rows for AZ-960 tests."""
+    header = (
+        "timestamp(ms),Time,"
+        "SCALED_IMU2.xacc,SCALED_IMU2.yacc,SCALED_IMU2.zacc,"
+        "SCALED_IMU2.xgyro,SCALED_IMU2.ygyro,SCALED_IMU2.zgyro,"
+        "GLOBAL_POSITION_INT.lat,GLOBAL_POSITION_INT.lon,"
+        "GLOBAL_POSITION_INT.alt,GLOBAL_POSITION_INT.vx,"
+        "GLOBAL_POSITION_INT.vy,GLOBAL_POSITION_INT.vz,"
+        "GLOBAL_POSITION_INT.hdg"
+    )
+    rows = [
+        "0,0.0,21,-3,-984,52,32,-5,50.000,30.000,141290,0,0,0,35041",
+        "100,0.1,-68,-9,-995,58,-17,1,50.0005,30.0005,141360,0,0,0,35042",
+        "200,0.2,9,108,-988,69,-65,13,50.001,30.001,141410,0,0,0,35048",
+    ]
+    path.write_text(header + "\n" + "\n".join(rows) + "\n")
+
+
+def test_load_ground_truth_track_dispatches_to_csv_loader(
+    tmp_path: Path,
+) -> None:
+    # Arrange — AC-1: csv extension routes through load_csv_ground_truth
+    csv_path = tmp_path / "data_imu.csv"
+    _write_minimal_csv(csv_path)
+
+    # Act
+    track = load_ground_truth_track(csv_path)
+
+    # Assert
+    assert len(track) == 3
+    for lat, lon in track:
+        assert 49.999 < lat < 50.002
+        assert 29.999 < lon < 30.002
+
+
+def test_load_ground_truth_track_csv_propagates_schema_error(
+    tmp_path: Path,
+) -> None:
+    # Arrange — AC-4: malformed CSV fails fast via ReplayInputAdapterError
+    csv_path = tmp_path / "bad.csv"
+    csv_path.write_text(
+        "timestamp(ms),SCALED_IMU2.xacc,GLOBAL_POSITION_INT.lat\n"
+        "0,0,50.0\n"
+    )
+    from gps_denied_onboard.replay_input.errors import ReplayInputAdapterError
+
+    # Act / Assert
+    with pytest.raises(ReplayInputAdapterError, match="Time"):
+        load_ground_truth_track(csv_path)
+
+
+def test_cli_renders_map_with_csv_truth(tmp_path: Path) -> None:
+    # Arrange — AC-1 end-to-end: CLI accepts --truth foo.csv
+    csv_path = tmp_path / "data_imu.csv"
+    _write_minimal_csv(csv_path)
+    estimated = tmp_path / "estimator.jsonl"
+    _write_jsonl(
+        estimated,
+        [
+            {"position_wgs84": {"lat_deg": 50.0, "lon_deg": 30.0, "alt_m": 100}},
+            {"position_wgs84": {"lat_deg": 50.001, "lon_deg": 30.001, "alt_m": 101}},
+        ],
+    )
+    output = tmp_path / "map.html"
+
+    # Act
+    rc = main(
+        [
+            "--estimated", str(estimated),
+            "--truth", str(csv_path),
+            "--output", str(output),
+        ]
+    )
+
+    # Assert
+    assert rc == 0
+    assert output.is_file()
+    body = output.read_text()
+    assert body.startswith("<!DOCTYPE html>")
+    assert "L.polyline" in body
+    assert '"color": "red"' in body
+    assert '"color": "blue"' in body