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Oleksandr Bezdieniezhnykh
2026-05-07 04:08:03 +03:00
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_docs/02_document/contracts/shared/config_errors_telemetry.md
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# Contract: Config Errors Telemetry
**Component**: shared/config, shared/errors, shared/telemetry
**Producer task**: AZ-222 — AZ-222_runtime_config_errors_telemetry.md
**Consumer tasks**: AZ-223, AZ-224, AZ-225, AZ-226, AZ-227, AZ-228, AZ-229, AZ-230, AZ-231, AZ-232, AZ-243
**Version**: 1.0.0
**Status**: draft
**Last Updated**: 2026-05-03
## Purpose
Defines shared runtime configuration, error/result envelope, health, and telemetry metadata behavior consumed by all runtime components.
## Shape
| Contract | Required Behavior |
|----------|-------------------|
| Runtime profile | environment-specific settings loaded and validated before use |
| Error envelope | component, category, message, cause, retryability, severity |
| Health event | liveness/readiness status, dependency state, timestamp, component |
| Metrics labels | bounded component/action/status labels suitable for runtime reports |
| VIO runtime profile | production/Jetson VIO requires native mode; replay is explicit for development/replay checks |
## Invariants
- Missing required production settings fail startup or readiness loudly.
- Errors are returned or logged with component and category; no silent suppression.
- Secrets are referenced, not serialized into FDR, logs, or metrics.
## Non-Goals
- Does not define component-specific business errors.
- Does not replace FDR payload schemas.
## Versioning Rules
- Removing required config keys or error categories requires a major version bump.
- Adding optional health fields or metrics labels requires a minor version bump.
## Test Cases
| Case | Input | Expected | Notes |
|------|-------|----------|-------|
| missing-required-prod | production profile missing cache dir | readiness/startup failure | Clear error category |
| missing-native-vio-runtime | production VIO profile without installed native runtime | failed VIO health and explicit native runtime prerequisite error | No replay-derived success |
| secret-value | signing key ref present | only key ref logged | No secret leakage |
| component-error | component reports dependency failure | structured envelope emitted | FDR-safe |
## Change Log
| Version | Date | Change | Author |
|---------|------|--------|--------|
| 1.0.0 | 2026-05-03 | Initial contract | autodev |
_docs/02_document/contracts/shared/geometry_time_sync.md
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# Contract: Geometry And Time Sync Helpers
**Component**: shared/geo_geometry, shared/time_sync
**Producer task**: AZ-221 — AZ-221_shared_geometry_time_sync.md
**Consumer tasks**: AZ-223, AZ-225, AZ-226, AZ-228, AZ-230, AZ-231, AZ-232
**Version**: 1.0.0
**Status**: draft
**Last Updated**: 2026-05-03
## Purpose
Defines shared geospatial and timestamp helper behavior used by runtime components to avoid duplicated math and inconsistent frame/IMU alignment.
## Shape
| API Area | Shape | Errors |
|----------|-------|--------|
| Coordinate conversion | WGS84/local tangent conversions and distance calculations | invalid CRS, missing origin |
| Camera footprint | intrinsics/extrinsics/attitude/altitude to footprint and GSD | invalid calibration, missing altitude |
| Homography metrics | homography/covariance conversions and MRE support | invalid geometry |
| Time sync | monotonic checks, frame-to-IMU window selection, replay ordering | timestamp mismatch, gap/jitter exceeded |
## Invariants
- Helpers are deterministic for the same calibration, pose, and timestamp inputs.
- Time helpers report gaps/jitter instead of silently dropping samples.
- Geometry helpers do not decide safety policy; callers decide degrade/reject behavior.
## Non-Goals
- No VIO state estimation.
- No MAVLink parsing beyond normalized timestamp fields.
- No tile freshness or cache policy decisions.
## Versioning Rules
- Breaking changes to units, coordinate frames, or timestamp semantics require a major version bump.
- New helper outputs may be added as optional fields in minor versions.
## Test Cases
| Case | Input | Expected | Notes |
|------|-------|----------|-------|
| valid-wgs84-local | known WGS84 point and origin | round-trip within tolerance | Uses representative coordinates |
| frame-imu-window | frame timestamp plus IMU samples | correct aligned window | Includes gap metrics |
| invalid-calibration | missing intrinsics/extrinsics | explicit error | No silent fallback |
## Change Log
| Version | Date | Change | Author |
|---------|------|--------|--------|
| 1.0.0 | 2026-05-03 | Initial contract | autodev |
_docs/02_document/contracts/shared/runtime_contracts.md
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# Contract: Runtime Shared Contracts
**Component**: shared/contracts
**Producer task**: AZ-220 — AZ-220_shared_runtime_contracts.md
**Consumer tasks**: AZ-223, AZ-224, AZ-225, AZ-226, AZ-227, AZ-228, AZ-229, AZ-230, AZ-231, AZ-232, AZ-243
**Version**: 1.0.0
**Status**: draft
**Last Updated**: 2026-05-03
## Purpose
Defines the shared runtime DTO/event contract surface that component implementations consume instead of inventing local shapes.
## Shape
| Contract | Required Fields / Methods | Consumers |
|----------|---------------------------|-----------|
| `FramePacket` | frame ID, timestamp, image reference, calibration ID, occlusion, quality, normalization hint | camera, VIO, Satellite Service, Anchor Verification, Tile Manager, FDR |
| `TelemetrySample` | timestamp, IMU, attitude, altitude, airspeed, GPS health | MAVLink, VIO, safety wrapper, FDR |
| `VioStatePacket` | timestamp, relative pose, velocity, bias, tracking quality, covariance hint | VIO, safety wrapper, FDR |
| `VioProcessingResult` | optional VIO state, health report, latency, error envelope | VIO, safety wrapper, FDR |
| `PositionEstimate` | WGS84 coordinates, covariance, source label, fix type, horizontal accuracy, anchor age | safety wrapper, MAVLink, Tile Manager, FDR |
| `VprCandidate` | chunk ID, tile ID, score, footprint, freshness status | Satellite Service, Anchor Verification, FDR |
| `AnchorDecision` | candidate ID, acceptance result, estimated pose, inliers, MRE, rejection reason | Anchor Verification, safety wrapper, FDR |
| `CacheTileRecord` | tile ID, CRS, meters per pixel, capture date, signature/hash, trust level | Tile Manager, Satellite Service, Anchor Verification |
| `FdrEvent` | event type, timestamp, component, severity, payload reference, mission/run ID | all runtime components |
## Invariants
- Timestamps are normalized to a shared monotonic nanosecond representation before cross-component use.
- Confidence fields must not under-report known uncertainty.
- Raw frame payloads are referenced, not persisted in shared DTOs.
- Generated tile and anchor records must carry provenance/freshness metadata.
## Non-Goals
- Does not prescribe internal classes or storage implementation.
- Does not define e2e test runner-only report schemas.
## Versioning Rules
- Removing or renaming a field requires a major version bump.
- Adding optional telemetry or diagnostic fields requires a minor version bump.
## Test Cases
| Case | Input | Expected | Notes |
|------|-------|----------|-------|
| valid-frame | frame with timestamp, calibration, quality | accepted by consumers | Includes normalization hint |
| invalid-time | non-monotonic timestamp | rejected or marked invalid | Time-sync contract decides details |
| stale-anchor | anchor decision with stale freshness | rejected/down-confidenced | Safety wrapper must not accept blindly |
## Change Log
| Version | Date | Change | Author |
|---------|------|--------|--------|
| 1.0.0 | 2026-05-03 | Initial contract | autodev |