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Oleksandr Bezdieniezhnykh
2026-05-07 04:08:03 +03:00
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_docs/03_implementation/batch_01_cycle1_report.md
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# Batch Report
**Batch**: 1
**Tasks**: AZ-219_initial_structure
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-219_initial_structure | Done | 98 files | Pass | 7/7 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AC-1 | `test_scaffold_paths_cover_runtime_test_and_evidence_layout` verifies source, tests, migrations, deployment, configuration, data, CI, and compose scaffold paths. |
| AC-2 | `test_runtime_component_public_modules_are_importable` and `test_shared_contract_locations_are_importable` verify public component and shared contract namespaces. |
| AC-3 | `test_scaffold_paths_cover_runtime_test_and_evidence_layout` verifies compose, env template, and migration paths; compose config validation passed. |
| AC-4 | `test_scaffold_paths_cover_runtime_test_and_evidence_layout` verifies `.github/workflows/ci.yml`; the workflow defines format, lint, unit test, compose config, and artifact placeholder jobs. |
| AC-5 | `test_scaffold_paths_cover_runtime_test_and_evidence_layout` verifies unit, integration, black-box, fixture, SITL, and e2e runner paths. |
| AC-6 | `test_scaffold_paths_cover_runtime_test_and_evidence_layout` verifies deployment scripts and evidence report paths. |
| AC-7 | `test_ignore_rules_exclude_runtime_payloads_and_secrets` verifies secrets, raw frames, cache/FDR payloads, and test result artifacts are ignored. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_01_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 5 tests.
- `docker compose -f docker-compose.yml config` passed.
- `docker compose -f docker-compose.test.yml config` passed.
## Next Batch: AZ-220_shared_runtime_contracts
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# Batch Report
**Batch**: 2
**Tasks**: AZ-220_shared_runtime_contracts
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-220_shared_runtime_contracts | Done | 8 files | Pass | 2/2 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AC-1 | `test_runtime_dtos_accept_valid_minimal_values` verifies the shared DTO contract surface can be imported and constructed. |
| AC-2 | `test_missing_required_timestamp_is_rejected_with_structured_error`, `test_raw_frame_retention_is_rejected`, `test_position_accuracy_cannot_under_report_covariance`, and `test_accepted_anchor_requires_estimated_pose` verify malformed DTOs are rejected with structured Pydantic validation errors. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_02_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 11 tests.
## Next Batch: AZ-221_shared_geometry_time_sync, AZ-222_runtime_config_errors_telemetry
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# Batch Report
**Batch**: 3
**Tasks**: AZ-221_shared_geometry_time_sync, AZ-222_runtime_config_errors_telemetry
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-221_shared_geometry_time_sync | Done | 5 files | Pass | 2/2 ACs covered | None |
| AZ-222_runtime_config_errors_telemetry | Done | 7 files | Pass | 2/2 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AZ-221 AC-1 | `test_wgs84_local_round_trip_is_deterministic` verifies deterministic WGS84/local conversion and metric output. |
| AZ-221 AC-2 | `test_non_monotonic_timestamps_return_explicit_violation` and `test_time_window_reports_gap_instead_of_dropping_silently` verify explicit time-sync violation results. |
| AZ-222 AC-1 | `test_missing_production_cache_dir_returns_readiness_failure` verifies missing production settings produce a structured readiness failure. |
| AZ-222 AC-2 | `test_dependency_error_envelope_has_required_structured_fields` verifies dependency errors include component, category, severity, and retryability. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_03_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 17 tests.
## Next Batch: AZ-223_camera_ingest_calibration, AZ-224_mavlink_gcs_gateway, AZ-225_tile_manager_cache_manifest, AZ-227_fdr_event_recorder
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# Batch Report
**Batch**: 4
**Tasks**: AZ-223_camera_ingest_calibration, AZ-224_mavlink_gcs_gateway, AZ-225_tile_manager_cache_manifest, AZ-227_fdr_event_recorder
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-223_camera_ingest_calibration | Done | 4 files | Pass | 3/3 ACs covered | None |
| AZ-224_mavlink_gcs_gateway | Done | 4 files | Pass | 3/3 ACs covered | None |
| AZ-225_tile_manager_cache_manifest | Done | 4 files | Pass | 3/3 ACs covered | None |
| AZ-227_fdr_event_recorder | Done | 4 files | Pass | 3/3 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AZ-223 AC-1 | `test_valid_frame_packet_contains_metadata_reports_and_normalization_hint` verifies timestamp, calibration, quality, occlusion, and normalization metadata. |
| AZ-223 AC-2 | `test_total_occlusion_marks_frame_unusable_for_vio_and_anchor` verifies blackout frames are unavailable for visual paths. |
| AZ-223 AC-3 | `test_raw_frame_payload_retention_is_rejected` verifies raw frame payload retention is rejected. |
| AZ-224 AC-1 | `test_telemetry_subscription_emits_normalized_sample` verifies normalized shared telemetry samples. |
| AZ-224 AC-2 | `test_invalid_gps_input_estimate_is_rejected_without_emission` verifies unsafe `GPS_INPUT` requests are rejected without emission. |
| AZ-224 AC-3 | `test_operator_status_messages_are_rate_limited_by_text` verifies QGC-visible status rate limiting. |
| AZ-225 AC-1 | `test_valid_cache_manifest_activates_trusted_records` verifies valid cache activation. |
| AZ-225 AC-2 | `test_tampered_or_stale_tile_is_rejected_with_auditable_reason` verifies hash and freshness rejection reasons. |
| AZ-225 AC-3 | `test_tile_metadata_lookup_returns_record_or_explicit_rejection` verifies trusted metadata lookup and explicit rejection. |
| AZ-227 AC-1 | `test_valid_event_append_indexes_metadata_and_payload_reference` verifies event metadata and payload references are stored within bounds. |
| AZ-227 AC-2 | `test_rollover_threshold_records_explicit_rollover_result` verifies rollover is explicit. |
| AZ-227 AC-3 | `test_export_request_produces_queryable_evidence_artifacts` verifies export evidence and analytics references. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_04_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 29 tests.
## Next Batch: AZ-226_generated_tile_orthorectification
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# Batch Report
**Batch**: 5
**Tasks**: AZ-226_generated_tile_orthorectification
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-226_generated_tile_orthorectification | Done | 4 files | Pass | 3/3 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AZ-226 AC-1 | `test_eligible_frame_stages_generated_cog_and_sidecar` verifies generated COG and sidecar staging for eligible frames. |
| AZ-226 AC-2 | `test_high_covariance_generated_tile_write_is_rejected` verifies unsafe high-covariance writes are rejected and not packaged. |
| AZ-226 AC-3 | `test_sync_package_includes_manifest_delta_sidecar_covariance_and_trust_level` verifies sync package audit metadata. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_05_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 32 tests.
## Next Batch: AZ-228_vio_adapter, AZ-229_satellite_service_sync
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# Batch Report
**Batch**: 6
**Tasks**: AZ-228_vio_adapter, AZ-229_satellite_service_sync
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-228_vio_adapter | Done | 4 files | Pass | 3/3 ACs covered | None |
| AZ-229_satellite_service_sync | Done | 4 files | Pass | 3/3 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AZ-228 AC-1 | `test_valid_synchronized_packet_emits_vio_state` verifies synchronized frame/IMU processing emits a relative VIO state packet. |
| AZ-228 AC-2 | `test_timestamp_mismatch_is_explicit_validation_error` verifies timestamp mismatch is rejected with an explicit error. |
| AZ-228 AC-3 | `test_tracking_loss_degrades_health_without_emitting_absolute_position` verifies health reports degraded tracking state. |
| AZ-229 AC-1 | `test_pre_flight_import_returns_package_for_tile_manager_validation` verifies mission cache packages are exposed for Tile Manager validation. |
| AZ-229 AC-2 | `test_post_flight_upload_records_retryable_failure_for_audit` verifies upload outcomes are auditable and retryable failures retain packages. |
| AZ-229 AC-3 | `test_in_flight_sync_is_blocked_without_calling_network_boundary` verifies in-flight sync is blocked before network/uploader calls. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_06_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 38 tests.
## Next Batch: AZ-230_satellite_service_vpr_retrieval
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# Batch Report
**Batch**: 7
**Tasks**: AZ-230_satellite_service_vpr_retrieval
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-230_satellite_service_vpr_retrieval | Done | 4 files | Pass | 3/3 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AZ-230 AC-1 | `test_valid_local_index_load_reports_ready_status` verifies local index loading reports readiness and record count. |
| AZ-230 AC-2 | `test_loaded_index_returns_bounded_candidates_with_freshness` verifies bounded top-K candidate output with tile/chunk IDs, score, footprint, and freshness. |
| AZ-230 AC-3 | `test_missing_index_degrades_with_explicit_no_candidate_result` verifies missing index produces explicit degraded behavior. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_07_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 42 tests.
## Next Batch: AZ-231_anchor_verification_matching
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# Batch Report
**Batch**: 8
**Tasks**: AZ-231_anchor_verification_matching
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-231_anchor_verification_matching | Done | 4 files | Pass | 3/3 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AZ-231 AC-1 | `test_candidate_verification_emits_acceptance_evidence` verifies accepted decisions include MRE, inliers, homography, and reason metadata. |
| AZ-231 AC-2 | `test_unsafe_candidate_is_rejected_with_reason` verifies unsafe/stale candidates are rejected without estimated pose. |
| AZ-231 AC-3 | `test_matcher_benchmark_reports_profile_runtime_and_quality_metrics` verifies matcher profile runtime and quality metrics are reportable. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_08_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 45 tests.
## Next Batch: AZ-232_safety_anchor_state_machine
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# Batch Report
**Batch**: 9
**Tasks**: AZ-232_safety_anchor_state_machine
**Date**: 2026-05-03
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-232_safety_anchor_state_machine | Done | 4 files | Pass | 4/4 ACs covered | None |
## AC Test Coverage: All covered
| AC Ref | Coverage |
|--------|----------|
| AZ-232 AC-1 | `test_vio_state_updates_position_estimate_with_honest_covariance` verifies VIO updates emit source-labelled estimates with honest covariance. |
| AZ-232 AC-2 | `test_accepted_anchor_corrects_state_and_records_evidence` verifies accepted anchors promote `satellite_anchored` state and record evidence. |
| AZ-232 AC-3 | `test_blackout_degrades_then_reaches_no_fix_with_monotonic_covariance` verifies monotonic covariance growth and no-fix semantics. |
| AZ-232 AC-4 | `test_tile_write_eligibility_requires_trusted_low_covariance_pose` verifies conservative tile-write eligibility. |
## Code Review Verdict: PASS
Review report: `_docs/03_implementation/reviews/batch_09_review.md`
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 49 tests.
## Next Batch: All tasks complete
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# Batch Report
**Batch**: 10
**Tasks**: AZ-240_native_vio_backend_integration, AZ-241_real_satellite_vpr_descriptor_retrieval, AZ-242_real_anchor_feature_matching_ransac
**Date**: 2026-05-05
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|---------------|-------|-------------|--------|
| AZ-240_native_vio_backend_integration | Done | 6 files | 58 passed | 3/3 ACs covered | None |
| AZ-241_real_satellite_vpr_descriptor_retrieval | Done | 6 files | 58 passed | 3/3 ACs covered | None |
| AZ-242_real_anchor_feature_matching_ransac | Done | 6 files | 58 passed | 3/3 ACs covered | None |
## AC Test Coverage: All covered
- AZ-240 AC-1: `test_configured_native_backend_path_emits_vio_state`
- AZ-240 AC-2: `test_native_backend_initialization_failure_sets_failed_health`, `test_native_backend_runtime_failure_sets_failed_health`
- AZ-240 AC-3: `test_timestamp_mismatch_is_explicit_validation_error`, `test_tracking_loss_degrades_health_without_emitting_absolute_position`
- AZ-241 AC-1: `test_valid_local_index_load_reports_ready_status`, `test_local_descriptor_index_package_loads_from_cache_file`
- AZ-241 AC-2: `test_loaded_index_returns_bounded_candidates_with_freshness`
- AZ-241 AC-3: `test_missing_index_degrades_with_explicit_no_candidate_result`, `test_invalid_index_package_degrades_with_explicit_error`
- AZ-242 AC-1: `test_matching_path_computes_evidence_from_frame_and_tile_inputs`
- AZ-242 AC-2: `test_unsafe_candidate_is_rejected_with_reason`, `test_computed_matching_rejects_low_inlier_geometry`
- AZ-242 AC-3: `test_matcher_benchmark_can_run_computed_paths`
## Code Review Verdict: PASS
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `python3 -m pytest tests/unit/test_vio_adapter.py tests/unit/test_satellite_service_vpr.py tests/unit/test_anchor_verification.py`: 19 passed.
- `python3 -m pytest`: 58 passed.
- Formatter/linter CLIs declared in `pyproject.toml` were unavailable in this interpreter: `black` and `ruff` modules were not installed.
## Next Batch: All product tasks complete
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# Batch Report
**Batch**: 11
**Tasks**: AZ-233_test_infrastructure
**Date**: 2026-05-05
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|---------------|-------|-------------|--------|
| AZ-233_test_infrastructure | Done | 18 files plus task archive | 4 passed | 4/4 ACs covered | None |
## AC Test Coverage: All covered
- AC-1: `test_replay_environment_reports_missing_prerequisites_as_blocked`
- AC-2: `test_satellite_cache_stub_is_deterministic_and_records_interactions`
- AC-3: `test_runner_executes_all_required_groups_and_writes_reports`
- AC-4: `test_runner_executes_all_required_groups_and_writes_reports`, `test_runner_keeps_generated_artifacts_run_scoped`
## Code Review Verdict: PASS
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `python3 -m pytest tests/blackbox/test_infrastructure.py`: 4 passed.
- `python3 -m e2e.replay.run_replay --output-dir /tmp/gpsd-blackbox-smoke`: generated CSV and Markdown replay evidence.
## Next Batch: AZ-234, AZ-235, AZ-236, AZ-237
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# Batch Report
**Batch**: 12
**Tasks**: AZ-234_replay_geolocation_confidence_tests, AZ-235_vio_replay_performance_tests, AZ-236_satellite_anchor_cache_tests, AZ-237_mavlink_blackout_spoofing_tests
**Date**: 2026-05-05
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|---------------|-------|-------------|--------|
| AZ-234_replay_geolocation_confidence_tests | Done | 2 files | 18 passed | 3/3 ACs covered | None |
| AZ-235_vio_replay_performance_tests | Done | 2 files | 18 passed | 3/3 ACs covered | None |
| AZ-236_satellite_anchor_cache_tests | Done | 2 files | 18 passed | 4/4 ACs covered | None |
| AZ-237_mavlink_blackout_spoofing_tests | Done | 2 files | 18 passed | 4/4 ACs covered | None |
## AC Test Coverage: All covered
- AZ-234 AC-1: `test_expected_coordinate_loader_rejects_invalid_wgs84_rows`, `test_still_image_replay_reports_coordinate_thresholds_and_latency`
- AZ-234 AC-2: `test_confidence_contract_validation_fails_missing_source_label`, `test_still_image_replay_reports_coordinate_thresholds_and_latency`
- AZ-234 AC-3: `test_still_image_replay_reports_coordinate_thresholds_and_latency`
- AZ-235 AC-1: `test_derkachi_alignment_validator_accepts_expected_fixture_shape`, `test_derkachi_alignment_validator_blocks_duration_drift`
- AZ-235 AC-2: `test_public_vio_replay_boundary_emits_frame_by_frame_estimate`
- AZ-235 AC-3: `test_public_dataset_and_calibration_prerequisites_are_reported_blocked`
- AZ-236 AC-1: `test_verified_anchor_includes_retrieval_matching_and_provenance_evidence`
- AZ-236 AC-2: `test_unsafe_cache_or_low_texture_candidates_never_emit_trusted_anchor`
- AZ-236 AC-3: `test_flight_mode_missing_cache_does_not_attempt_external_access`
- AZ-236 AC-4: `test_verified_anchor_includes_retrieval_matching_and_provenance_evidence`, `test_flight_mode_missing_cache_does_not_attempt_external_access`
- AZ-237 AC-1: `test_blackout_trace_transitions_to_dead_reckoned_then_no_fix`
- AZ-237 AC-2: `test_blackout_trace_transitions_to_dead_reckoned_then_no_fix`, `test_no_fix_estimate_is_not_emitted_as_confident_gps_input`
- AZ-237 AC-3: `test_unauthorized_mavlink_sources_are_rejected_by_test_assertion`
- AZ-237 AC-4: `test_qgc_status_and_fdr_evidence_are_visible_and_rate_limited`
## Code Review Verdict: PASS
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `python3 -m pytest tests/blackbox`: 18 passed.
- IDE lints: no errors on changed Python files.
- `python3 -m black ...` and `python3 -m ruff ...` could not run because those optional dev tool modules are not installed in the current interpreter.
## Next Batch: AZ-238, AZ-239
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# Batch Report
**Batch**: 13
**Tasks**: AZ-238_cold_start_restart_tests, AZ-239_jetson_resource_endurance_tests
**Date**: 2026-05-05
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|---------------|-------|-------------|--------|
| AZ-238_cold_start_restart_tests | Done | 2 files | 25 passed | 4/4 ACs covered | None |
| AZ-239_jetson_resource_endurance_tests | Done | 2 files | 25 passed | 4/4 ACs covered | None |
## AC Test Coverage: All covered
- AZ-238 AC-1: `test_disconnected_segment_triggers_relocalization_request_check`
- AZ-238 AC-2: `test_restart_scenario_records_first_output_or_blocked_prerequisite`
- AZ-238 AC-3: `test_cold_start_trials_report_p95_first_fix_and_resource_spike`
- AZ-238 AC-4: `test_cold_start_trials_report_p95_first_fix_and_resource_spike`, `test_cold_start_hardware_prerequisites_are_blocked_not_passed`
- AZ-239 AC-1: `test_jetson_resource_metric_summary_captures_memory_and_throttle_fields`
- AZ-239 AC-2: `test_missing_thermal_hardware_reports_blocked_prerequisite`
- AZ-239 AC-3: `test_fdr_rollover_logs_segments_without_raw_frame_retention`
- AZ-239 AC-4: `test_missing_thermal_hardware_reports_blocked_prerequisite`, `test_fdr_rollover_logs_segments_without_raw_frame_retention`
## Code Review Verdict: PASS
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Verification
- `python3 -m pytest tests/blackbox`: 25 passed.
- IDE lints: no errors on changed Python files.
- `python3 -m black ...` and `python3 -m ruff ...` could not run because those optional dev tool modules are not installed in the current interpreter.
## Next Batch: All test implementation tasks complete
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# Batch Report
**Batch**: 14
**Tasks**: AZ-243_integrate_production_native_vio_runtime
**Date**: 2026-05-06
## Task Results
| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|---------------|-------|-------------|--------|
| AZ-243_integrate_production_native_vio_runtime | Done | 7 files | 87 passed | 3/3 ACs covered | None |
## AC Test Coverage: All covered
- AC-1: `test_production_profile_selects_native_runtime_path`
- AC-2: `test_production_profile_without_installed_native_runtime_fails_closed`
- AC-3: `test_replay_mode_is_explicit_and_not_valid_for_production`, `test_public_vio_replay_boundary_emits_frame_by_frame_estimate`
## Code Review Verdict: PASS
## Auto-Fix Attempts: 0
## Stuck Agents: None
## Next Batch
All product tasks complete. Product completeness was refreshed after AZ-243 and Step 7 can hand off to Code Testability Revision.
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# Product Implementation Completeness Report
**Cycle**: 1
**Date**: 2026-05-06
**Outcome**: PASS — product implementation complete after native VIO remediation
## Summary
Product implementation returned to Step 7 for the native VIO runtime gap and completed AZ-243. Production and Jetson VIO profiles now select native runtime mode, load a BASALT-compatible runner through the VIO adapter boundary, and report explicit initialization errors when the installed runtime prerequisite is unavailable. Replay behavior remains available through explicit development replay configuration.
## Product Task Classifications
| Task | Classification | Evidence |
|------|----------------|----------|
| AZ-219 through AZ-232 | PASS | Batch reports 01-09, cumulative review 01-09, full source marker scan, and full suite coverage |
| AZ-240 | PASS | `src/vio_adapter/interfaces.py`, `src/vio_adapter/types.py`, `src/vio_adapter/native/basalt.py`, `tests/unit/test_vio_adapter.py` |
| AZ-241 | PASS | `src/satellite_service/interfaces.py`, `src/satellite_service/types.py`, `src/satellite_service/native/__init__.py`, `tests/unit/test_satellite_service_vpr.py` |
| AZ-242 | PASS | `src/anchor_verification/interfaces.py`, `src/anchor_verification/types.py`, `src/anchor_verification/native/__init__.py`, `tests/unit/test_anchor_verification.py` |
| AZ-243 | PASS | `create_vio_adapter`, `VioRuntimeConfig`, `ConfiguredNativeVioBackend`, `BasaltNativeRunner`, `tests/unit/test_vio_adapter.py`, `tests/blackbox/test_vio_replay.py` |
## Remediation Evidence
- `VioRuntimeConfig` derives native mode for `production` and `jetson` profiles and rejects replay mode for those environments.
- `create_vio_adapter` selects `ConfiguredNativeVioBackend` for native profiles and keeps replay execution behind explicit replay mode.
- `BasaltNativeRunner` loads an installed BASALT-compatible runtime factory from the configured module/function reference and validates the returned runner against `NativeVioRunner`.
- Missing BASALT runtime prerequisites surface as explicit VIO initialization errors with failed health and no emitted VIO state packet.
- Satellite retrieval and anchor verification remediation from AZ-241 and AZ-242 remains covered by the existing native retrieval/matching evidence and tests.
## Marker Scan
Checked `src/**/*.py` for unresolved implementation markers:
- `TODO`
- `placeholder`
- `stub`
- `fake`
- `mock`
- `scaffold`
- `native bridge`
- `NotImplemented`
- bare `pass`
Result: clean.
## Verification
- `python3 -m black src/vio_adapter tests/unit/test_vio_adapter.py tests/blackbox/test_vio_replay.py`: completed.
- `python3 -m ruff check src/vio_adapter tests/unit/test_vio_adapter.py tests/blackbox/test_vio_replay.py`: passed.
- `python3 -m pytest tests/unit/test_vio_adapter.py tests/blackbox/test_vio_replay.py`: 13 passed.
- `python3 -m pytest`: 87 passed.
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# Implementation Report
**Feature**: Product runtime
**Cycle**: 1
**Date**: 2026-05-05
**Status**: Complete
## Summary
Greenfield product implementation completed the GPS-denied onboard runtime and the required remediation work for native VIO selection, local descriptor/index VPR retrieval, and computed anchor matching/geometry verification.
- Total tasks completed: 17
- Completed batches: 10
- Blocked tasks: 0
- Code review verdicts: PASS for all batch reviews and cumulative review
- Final test run: 58 passed
## Completed Tasks
| Task | Name | Batch | Status |
|------|------|-------|--------|
| AZ-219 | initial_structure | 1 | Done |
| AZ-220 | shared_runtime_contracts | 2 | Done |
| AZ-221 | shared_geometry_time_sync | 3 | Done |
| AZ-222 | runtime_config_errors_telemetry | 3 | Done |
| AZ-223 | camera_ingest_calibration | 4 | Done |
| AZ-224 | mavlink_gcs_gateway | 4 | Done |
| AZ-225 | tile_manager_cache_manifest | 4 | Done |
| AZ-227 | fdr_event_recorder | 4 | Done |
| AZ-226 | generated_tile_orthorectification | 5 | Done |
| AZ-228 | vio_adapter | 6 | Done |
| AZ-229 | satellite_service_sync | 6 | Done |
| AZ-230 | satellite_service_vpr_retrieval | 7 | Done |
| AZ-231 | anchor_verification_matching | 8 | Done |
| AZ-232 | safety_anchor_state_machine | 9 | Done |
| AZ-240 | native_vio_backend_integration | 10 | Done |
| AZ-241 | real_satellite_vpr_descriptor_retrieval | 10 | Done |
| AZ-242 | real_anchor_feature_matching_ransac | 10 | Done |
## Batch Outcomes
| Batch | Tasks | Code Review | Tests |
|-------|-------|-------------|-------|
| 1 | AZ-219_initial_structure | PASS | 5 passed |
| 2 | AZ-220_shared_runtime_contracts | PASS | 11 passed |
| 3 | AZ-221_shared_geometry_time_sync, AZ-222_runtime_config_errors_telemetry | PASS | 17 passed |
| 4 | AZ-223_camera_ingest_calibration, AZ-224_mavlink_gcs_gateway, AZ-225_tile_manager_cache_manifest, AZ-227_fdr_event_recorder | PASS | 29 passed |
| 5 | AZ-226_generated_tile_orthorectification | PASS | 32 passed |
| 6 | AZ-228_vio_adapter, AZ-229_satellite_service_sync | PASS | 38 passed |
| 7 | AZ-230_satellite_service_vpr_retrieval | PASS | 42 passed |
| 8 | AZ-231_anchor_verification_matching | PASS | 45 passed |
| 9 | AZ-232_safety_anchor_state_machine | PASS | 49 passed |
| 10 | AZ-240_native_vio_backend_integration, AZ-241_real_satellite_vpr_descriptor_retrieval, AZ-242_real_anchor_feature_matching_ransac | PASS | 58 passed |
## Acceptance Coverage
All acceptance criteria documented in the product implementation task specs are covered by tests recorded in the batch reports:
- Shared contracts, configuration, errors, telemetry, geometry, and time-sync behavior are validated by shared unit tests.
- Component runtime boundaries for camera ingest, MAVLink/GCS, tile management, FDR, VIO, Satellite Service, anchor verification, and safety/anchor state management are validated by component unit tests.
- Native VIO backend selection, local descriptor/index package loading and retrieval, and computed matcher/RANSAC evidence paths are validated by remediation unit tests.
- Safety-critical behavior for explicit errors, no raw-frame retention, no mid-flight Satellite Service calls, conservative generated-tile writes, rejected unsafe anchors, monotonic blackout degradation, and honest covariance is covered by the current unit suite.
## Review Summary
- Batch reviews: `_docs/03_implementation/reviews/batch_01_review.md` through `_docs/03_implementation/reviews/batch_10_review.md`
- Cumulative review: `_docs/03_implementation/reviews/cumulative_review_batches_01-09_cycle1_report.md`
- Auto-fix attempts: 0 across all batches
- Stuck agents: none
## Final Verification
- `python3 -m pytest` passed: 58 tests.
- `python3 -m black ...` and `python3 -m ruff ...` could not run because those optional dev tool modules are not installed in the current interpreter.
## Next Step
Autodev may advance to Step 8, Code Testability Revision. Product implementation completeness is recorded in `_docs/03_implementation/implementation_completeness_cycle1_report.md`.
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# Implementation Report
**Feature**: Blackbox and e2e test implementation
**Cycle**: 1
**Date**: 2026-05-05
**Status**: Complete
## Summary
Greenfield test implementation completed the blackbox/e2e replay harness and all test tasks for still-image replay, synchronized VIO replay, satellite-anchor/cache security, MAVLink blackout/spoofing, cold-start/restart, Jetson resource, and FDR endurance scenarios.
- Total test tasks completed: 7
- Completed batches: 3
- Blocked tasks: 0
- Code review verdicts: PASS for all batch reviews and cumulative review
- Focused verification: 25 blackbox tests passed
- Full-suite gate: handed off to Step 11 (`test-run`) per implement Step 16
## Completed Tasks
| Task | Name | Batch | Status |
|------|------|-------|--------|
| AZ-233 | test_infrastructure | 11 | Done |
| AZ-234 | replay_geolocation_confidence_tests | 12 | Done |
| AZ-235 | vio_replay_performance_tests | 12 | Done |
| AZ-236 | satellite_anchor_cache_tests | 12 | Done |
| AZ-237 | mavlink_blackout_spoofing_tests | 12 | Done |
| AZ-238 | cold_start_restart_tests | 13 | Done |
| AZ-239 | jetson_resource_endurance_tests | 13 | Done |
## Batch Outcomes
| Batch | Tasks | Code Review | Tests |
|-------|-------|-------------|-------|
| 11 | AZ-233_test_infrastructure | PASS | 4 passed |
| 12 | AZ-234, AZ-235, AZ-236, AZ-237 | PASS | 18 passed |
| 13 | AZ-238, AZ-239 | PASS | 25 passed |
## Acceptance Coverage
All acceptance criteria documented in the test implementation task specs are covered by focused blackbox tests recorded in the batch reports:
- Replay infrastructure starts or reports blocked prerequisites, uses deterministic stubs, discovers required scenario groups, and writes CSV/Markdown evidence.
- Still-image replay validates WGS84 expected-coordinate fixtures, confidence/source-label fields, latency percentiles, and dropped-frame metrics.
- Synchronized VIO replay validates Derkachi alignment gates, public VIO replay output, and calibration/public-dataset blocked prerequisites.
- Satellite-anchor/cache tests validate retrieval evidence, geometry verification, invalid cache rejection, no in-flight external access, and storage-budget evidence.
- MAVLink blackout/spoofing tests validate dead-reckoned/no-fix transitions, safe `GPS_INPUT` emission behavior, unauthorized source rejection, and QGC/FDR status visibility.
- Restart/resource tests validate relocalization triggers, first-fix trial aggregation, Jetson blocked prerequisites, resource metrics, and FDR rollover evidence.
## Review Summary
- Batch reviews: `_docs/03_implementation/reviews/batch_11_review.md` through `_docs/03_implementation/reviews/batch_13_review.md`
- Cumulative review: `_docs/03_implementation/reviews/cumulative_review_batches_11-13_tests_report.md`
- Auto-fix attempts: 0 across all test batches
- Stuck agents: none
## Verification
- `python3 -m pytest tests/blackbox/test_infrastructure.py`: 4 passed.
- `python3 -m pytest tests/blackbox`: 18 passed after batch 12.
- `python3 -m pytest tests/blackbox`: 25 passed after batch 13.
- `python3 -m e2e.replay.run_replay --output-dir /tmp/gpsd-blackbox-smoke`: generated CSV and Markdown replay evidence.
- Formatter/linter CLIs declared in `pyproject.toml` were unavailable in this interpreter: `black` and `ruff` modules were not installed.
## Next Step
Autodev may advance to Step 11, Run Tests. The full-suite gate is intentionally owned by Step 11 to avoid duplicating the test-run skill's diagnosis and reporting workflow.
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# Code Review Report
**Batch**: AZ-219_initial_structure
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
| - | - | - | - | No findings |
## Review Notes
- AC-1 is satisfied by the `src/`, `migrations/`, `tests/`, `e2e/`, `deployment/`, `config/`, and `data/` scaffold plus tracked placeholders.
- AC-2 is satisfied by importable component and shared package namespaces under `src/`.
- AC-3 is satisfied by `docker-compose.yml`, `docker-compose.test.yml`, `.env.example`, and the initial PostGIS migration.
- AC-4 is satisfied by `.github/workflows/ci.yml` with format, lint, unit-test, compose-config, and artifact placeholder stages.
- AC-5 is satisfied by pytest unit scaffold coverage and black-box/SITL/e2e fixture entry-point directories.
- AC-6 is satisfied by deployment Dockerfiles, Jetson/deployment placeholders, `e2e/reports/`, and `deployment/scripts/collect_evidence.sh`.
- AC-7 is satisfied by `.gitignore`, `.dockerignore`, and non-secret environment templates excluding generated runtime payloads and credentials.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 5 tests.
- `docker compose -f docker-compose.yml config` passed.
- `docker compose -f docker-compose.test.yml config` passed.
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# Code Review Report
**Batch**: AZ-220_shared_runtime_contracts
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
| - | - | - | - | No findings |
## Review Notes
- AC-1 is satisfied by the public exports in `src/shared/contracts/__init__.py` and the DTO models in `src/shared/contracts/models.py`.
- AC-2 is satisfied by Pydantic validation for missing required fields, raw frame retention, optimistic covariance reporting, and inconsistent anchor decisions.
- The implementation stays inside `shared/contracts` ownership and does not introduce component-specific algorithms.
- Raw frame payloads remain references only; the model rejects retained raw-frame payload flags.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 11 tests.
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# Code Review Report
**Batch**: AZ-221_shared_geometry_time_sync, AZ-222_runtime_config_errors_telemetry
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
| - | - | - | - | No findings |
## Review Notes
- AZ-221 AC-1 is satisfied by deterministic WGS84/local conversion, distance, and footprint helpers under `shared/geo_geometry`.
- AZ-221 AC-2 is satisfied by explicit time-sync violation models and window selection results under `shared/time_sync`.
- AZ-222 AC-1 is satisfied by runtime profile validation and structured readiness failure envelopes under `shared/config`.
- AZ-222 AC-2 is satisfied by reusable `ErrorEnvelope` / `ResultEnvelope` models plus FDR-safe health and metrics metadata.
- The batch stays within shared foundation ownership and does not introduce component policy decisions.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 17 tests.
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# Code Review Report
**Batch**: AZ-223_camera_ingest_calibration, AZ-224_mavlink_gcs_gateway, AZ-225_tile_manager_cache_manifest, AZ-227_fdr_event_recorder
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
No findings.
## Spec Compliance
| Task | AC Coverage | Evidence |
|------|-------------|----------|
| AZ-223 | 3/3 covered | `tests/unit/test_camera_ingest_calibration.py` verifies packet metadata, blackout unusability, and raw-frame retention rejection. |
| AZ-224 | 3/3 covered | `tests/unit/test_mavlink_gcs_integration.py` verifies telemetry normalization, invalid GPS_INPUT rejection, and QGC status rate limiting. |
| AZ-225 | 3/3 covered | `tests/unit/test_tile_manager.py` verifies trusted cache activation, tamper/staleness rejection, and explicit metadata lookup rejection. |
| AZ-227 | 3/3 covered | `tests/unit/test_fdr_observability.py` verifies append/index behavior, rollover reporting, and export evidence artifacts. |
## Architecture Compliance
- Component writes stayed within the owning package directories declared in `_docs/02_document/module-layout.md`.
- Cross-component imports use shared public contracts and shared error envelopes only.
- No direct imports of another runtime component's internal modules were introduced.
## Verification
- `.venv/bin/python -m ruff check src/camera_ingest_calibration src/mavlink_gcs_integration src/tile_manager src/fdr_observability tests/unit/test_camera_ingest_calibration.py tests/unit/test_mavlink_gcs_integration.py tests/unit/test_tile_manager.py tests/unit/test_fdr_observability.py` passed.
- `.venv/bin/python -m pytest tests/unit/test_camera_ingest_calibration.py tests/unit/test_mavlink_gcs_integration.py tests/unit/test_tile_manager.py tests/unit/test_fdr_observability.py` passed: 12 tests.
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# Code Review Report
**Batch**: AZ-226_generated_tile_orthorectification
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
No findings.
## Spec Compliance
| Task | AC Coverage | Evidence |
|------|-------------|----------|
| AZ-226 | 3/3 covered | `tests/unit/test_tile_manager.py` verifies generated COG/sidecar staging, unsafe covariance rejection, and auditable sync package metadata. |
## Architecture Compliance
- Edits stayed inside `src/tile_manager/**` plus focused unit tests.
- Generated tile behavior consumes existing Tile Manager and shared contract patterns; no new cross-component internal imports were introduced.
- Generated outputs use `generated`/`candidate` trust levels and do not promote onboard tiles directly to trusted basemap records.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 32 tests.
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# Code Review Report
**Batch**: AZ-228_vio_adapter, AZ-229_satellite_service_sync
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
No findings.
## Review Scope
- Task specs:
- `_docs/02_tasks/todo/AZ-228_vio_adapter.md`
- `_docs/02_tasks/todo/AZ-229_satellite_service_sync.md`
- Changed files:
- `src/vio_adapter/__init__.py`
- `src/vio_adapter/interfaces.py`
- `src/vio_adapter/types.py`
- `src/satellite_service/__init__.py`
- `src/satellite_service/interfaces.py`
- `src/satellite_service/types.py`
- `tests/unit/test_vio_adapter.py`
- `tests/unit/test_satellite_service_sync.py`
## Phase Notes
### Spec Compliance
- AZ-228 AC-1 is covered by `test_valid_synchronized_packet_emits_vio_state`.
- AZ-228 AC-2 is covered by `test_timestamp_mismatch_is_explicit_validation_error`.
- AZ-228 AC-3 is covered by `test_tracking_loss_degrades_health_without_emitting_absolute_position`.
- AZ-229 AC-1 is covered by `test_pre_flight_import_returns_package_for_tile_manager_validation`.
- AZ-229 AC-2 is covered by `test_post_flight_upload_records_retryable_failure_for_audit`.
- AZ-229 AC-3 is covered by `test_in_flight_sync_is_blocked_without_calling_network_boundary`.
### Code Quality
The implementation follows the existing Pydantic model style, keeps component logic inside the owning packages, and exposes only public API exports through component `__init__.py` files.
### Security Quick-Scan
No hardcoded secrets, shell execution, deserialization paths, SQL construction, or sensitive credential logging were introduced. The Satellite Service sync boundary explicitly rejects in-flight package exchange before invoking the uploader.
### Performance Scan
No unbounded network path or per-frame heavy retrieval path was introduced. The VIO adapter uses a bounded timestamp-window selection over the provided telemetry samples.
### Cross-Task Consistency
The VIO adapter and Satellite Service sync boundary remain independent batch outputs and share existing DTO/error-envelope conventions.
### Architecture Compliance
Imports respect `_docs/02_document/module-layout.md`: VIO imports only shared public APIs, and Satellite Service imports Tile Manager through the package public API.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay`
- `.venv/bin/python -m ruff check src tests e2e/replay`
- `.venv/bin/python -m pytest`
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# Code Review Report
**Batch**: AZ-230_satellite_service_vpr_retrieval
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
No findings.
## Review Scope
- Task spec:
- `_docs/02_tasks/todo/AZ-230_satellite_service_vpr_retrieval.md`
- Changed files:
- `src/satellite_service/__init__.py`
- `src/satellite_service/interfaces.py`
- `src/satellite_service/types.py`
- `tests/unit/test_satellite_service_vpr.py`
## Phase Notes
### Spec Compliance
- AZ-230 AC-1 is covered by `test_valid_local_index_load_reports_ready_status`.
- AZ-230 AC-2 is covered by `test_loaded_index_returns_bounded_candidates_with_freshness`.
- AZ-230 AC-3 is covered by `test_missing_index_degrades_with_explicit_no_candidate_result`.
- Descriptor-fidelity gating is covered by `test_descriptor_fidelity_gate_rejects_large_optimized_delta`.
### Code Quality
The implementation follows the existing component pattern: public Pydantic models live in `types.py`, behavior and protocols live in `interfaces.py`, and component exports are centralized in `__init__.py`.
### Security Quick-Scan
No network calls, shell execution, dynamic code execution, hardcoded secrets, or credential logging were introduced. Retrieval only uses local preloaded descriptor records.
### Performance Scan
Candidate scoring is bounded by the loaded local index and request `top_k` is constrained to 50. The implementation does not add a steady-state per-frame retrieval loop.
### Cross-Task Consistency
The retrieval code reuses the Satellite Service sync boundary’s offline-only posture and shared `VprCandidate`/`ErrorEnvelope` contracts.
### Architecture Compliance
Imports respect `_docs/02_document/module-layout.md`: Satellite Service imports shared contracts/errors and Tile Manager through public package exports only.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay`
- `.venv/bin/python -m ruff check src tests e2e/replay`
- `.venv/bin/python -m pytest`
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# Code Review Report
**Batch**: AZ-231_anchor_verification_matching
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
No findings.
## Review Scope
- Task spec:
- `_docs/02_tasks/todo/AZ-231_anchor_verification_matching.md`
- Changed files:
- `src/anchor_verification/__init__.py`
- `src/anchor_verification/interfaces.py`
- `src/anchor_verification/types.py`
- `tests/unit/test_anchor_verification.py`
## Phase Notes
### Spec Compliance
- AZ-231 AC-1 is covered by `test_candidate_verification_emits_acceptance_evidence`.
- AZ-231 AC-2 is covered by `test_unsafe_candidate_is_rejected_with_reason`.
- AZ-231 AC-3 is covered by `test_matcher_benchmark_reports_profile_runtime_and_quality_metrics`.
### Code Quality
The implementation keeps evidence/result models in `types.py`, gate behavior in `interfaces.py`, and public exports in `__init__.py`. The benchmark path computes each verification result once and reports runtime/quality metrics per matcher profile.
### Security Quick-Scan
No network calls, shell execution, dynamic code execution, hardcoded secrets, or credential logging were introduced.
### Performance Scan
Anchor verification is request/trigger oriented and does not add a per-frame learned matcher loop. Benchmark reporting is bounded by the provided evidence tuple.
### Cross-Task Consistency
The verifier consumes `VprCandidate` outputs from Satellite Service and emits shared `AnchorDecision` DTOs for the later safety wrapper task.
### Architecture Compliance
Imports respect `_docs/02_document/module-layout.md`: Anchor Verification imports shared contracts only and does not reach into Satellite Service or Tile Manager internals.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay`
- `.venv/bin/python -m ruff check src tests e2e/replay`
- `.venv/bin/python -m pytest`
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# Code Review Report
**Batch**: AZ-232_safety_anchor_state_machine
**Date**: 2026-05-03
**Verdict**: PASS
## Findings
No findings.
## Review Scope
- Task spec:
- `_docs/02_tasks/todo/AZ-232_safety_anchor_state_machine.md`
- Changed files:
- `src/safety_anchor_wrapper/__init__.py`
- `src/safety_anchor_wrapper/interfaces.py`
- `src/safety_anchor_wrapper/types.py`
- `tests/unit/test_safety_anchor_wrapper.py`
## Phase Notes
### Spec Compliance
- AZ-232 AC-1 is covered by `test_vio_state_updates_position_estimate_with_honest_covariance`.
- AZ-232 AC-2 is covered by `test_accepted_anchor_corrects_state_and_records_evidence`.
- AZ-232 AC-3 is covered by `test_blackout_degrades_then_reaches_no_fix_with_monotonic_covariance`.
- AZ-232 AC-4 is covered by `test_tile_write_eligibility_requires_trusted_low_covariance_pose`.
### Code Quality
The safety wrapper owns source-label, covariance, anchor-promotion, degraded-mode, and tile-eligibility decisions without reaching into VIO, Anchor Verification, MAVLink transport, or Tile Manager internals.
### Security Quick-Scan
No network calls, shell execution, dynamic code execution, hardcoded secrets, or credential logging were introduced.
### Performance Scan
State transitions are constant-time and operate on typed DTOs. No per-frame heavy retrieval or matching work was introduced.
### Cross-Task Consistency
The wrapper consumes `VioStatePacket` and `AnchorDecision` outputs from previous batches and emits shared `PositionEstimate` DTOs for MAVLink/GCS integration.
### Architecture Compliance
Imports respect `_docs/02_document/module-layout.md`: Safety And Anchor Wrapper imports shared contracts and does not call Tile Manager directly during anchor acceptance.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay`
- `.venv/bin/python -m ruff check src tests e2e/replay`
- `.venv/bin/python -m pytest`
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# Code Review Report
**Batch**: AZ-240_native_vio_backend_integration, AZ-241_real_satellite_vpr_descriptor_retrieval, AZ-242_real_anchor_feature_matching_ransac
**Date**: 2026-05-05
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
| - | - | - | - | No findings |
## Review Notes
- AZ-240: `NativeVioBackend` keeps engine-specific setup behind the `VioBackend` protocol, maps initialization/runtime errors to explicit `VioHealthReport` failures, and preserves timestamp mismatch, tracking-quality degradation, and no-WGS84-authority behavior.
- AZ-241: `LocalVprRetriever` now loads local descriptor/index packages from cache files, builds a CPU FAISS-compatible descriptor index, reports readiness with loaded record counts, and returns degraded/no-candidate results for missing or invalid packages without network access.
- AZ-242: `GeometryGatedAnchorVerifier` now has a computed matcher path from frame/tile keypoints through `KeypointRansacMatcher`, while the existing safety gates still reject stale provenance, low inliers, high MRE, and geometry failures.
## AC Coverage
| Task | AC Coverage |
|------|-------------|
| AZ-240 | 3/3 covered by `tests/unit/test_vio_adapter.py` |
| AZ-241 | 3/3 covered by `tests/unit/test_satellite_service_vpr.py` |
| AZ-242 | 3/3 covered by `tests/unit/test_anchor_verification.py` |
## Verification
- `python3 -m pytest tests/unit/test_vio_adapter.py tests/unit/test_satellite_service_vpr.py tests/unit/test_anchor_verification.py` passed: 19 tests.
- `python3 -m pytest` passed: 58 tests.
- `python3 -m black ...` and `python3 -m ruff ...` could not run because those optional dev tools are not installed in the current interpreter.
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# Code Review Report
**Batch**: AZ-233_test_infrastructure
**Date**: 2026-05-05
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
No findings.
## Review Notes
- Spec compliance: AC-1 through AC-4 are covered by `tests/blackbox/test_infrastructure.py`.
- Scope: changes stay within blackbox/e2e test-support ownership plus replay container and compose wiring.
- Security quick-scan: no subprocess shell execution, dynamic evaluation, hardcoded secrets, or network calls were introduced.
- Architecture: test infrastructure imports only its own `e2e.replay` package and does not import runtime component internals.
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# Code Review Report
**Batch**: AZ-234_replay_geolocation_confidence_tests, AZ-235_vio_replay_performance_tests, AZ-236_satellite_anchor_cache_tests, AZ-237_mavlink_blackout_spoofing_tests
**Date**: 2026-05-05
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
No findings.
## Review Notes
- Spec compliance: all ACs for AZ-234 through AZ-237 are covered by focused blackbox tests.
- Scope: tests use public runtime packages (`vio_adapter`, `satellite_service`, `anchor_verification`, `safety_anchor_wrapper`, `mavlink_gcs_integration`) and test-side harness helpers only.
- Security quick-scan: no external network access, dynamic execution, shell invocation, or secrets were introduced.
- Architecture: no runtime internals or private component modules are imported by the blackbox tests.
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# Code Review Report
**Batch**: AZ-238_cold_start_restart_tests, AZ-239_jetson_resource_endurance_tests
**Date**: 2026-05-05
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
No findings.
## Review Notes
- Spec compliance: all ACs for AZ-238 and AZ-239 are covered by focused blackbox tests.
- Scope: changes add test-side restart/resource helpers and blackbox tests only; runtime component code remains untouched.
- Security quick-scan: no external network access, shell invocation, dynamic execution, or secrets were introduced.
- Architecture: tests use public FDR and replay harness boundaries and preserve run-scoped artifact behavior.
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# Code Review Report
**Batch**: AZ-243_integrate_production_native_vio_runtime
**Date**: 2026-05-06
**Verdict**: PASS
## Findings
No findings.
## Phase Summary
- Spec compliance: AC-1 is covered by production `VioRuntimeConfig` native-mode selection and `create_vio_adapter`; AC-2 is covered by BASALT runtime loader prerequisite errors; AC-3 is covered by explicit development replay mode and production replay-mode rejection.
- Code quality: The native runner loader, configured backend, and adapter factory keep backend-specific setup behind `src/vio_adapter/**` and preserve the public `VioBackend`/`VioAdapter` contracts.
- Security quick-scan: No secrets, subprocess calls, dynamic code execution, shell execution, or sensitive logging were introduced.
- Performance scan: Native runner creation is lazy and occurs during adapter initialization; per-packet processing remains delegated to the selected backend.
- Architecture compliance: Changed code stays inside VIO ownership and tests, imports only shared lower-layer contracts plus same-component modules, and introduces no cross-component cycles.
## Verification
- `python3 -m black src/vio_adapter tests/unit/test_vio_adapter.py tests/blackbox/test_vio_replay.py`
- `python3 -m ruff check src/vio_adapter tests/unit/test_vio_adapter.py tests/blackbox/test_vio_replay.py`
- `python3 -m pytest tests/unit/test_vio_adapter.py tests/blackbox/test_vio_replay.py`: 13 passed.
- `python3 -m pytest`: 87 passed.
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# Code Review Report
**Batch**: cumulative batches 01-09, cycle 1
**Date**: 2026-05-04
**Verdict**: PASS
## Scope
- Task specs reviewed: AZ-219 through AZ-232.
- Batch reports reviewed: `_docs/03_implementation/batch_01_cycle1_report.md` through `_docs/03_implementation/batch_09_cycle1_report.md`.
- Code scope reviewed: `src/`, `tests/`, and `e2e/replay`.
- Architecture references reviewed: `_docs/02_document/architecture.md` and `_docs/02_document/module-layout.md`.
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
| - | - | - | - | No findings |
## Phase Results
### Phase 1: Context Loading
All 14 product implementation tasks, the project restrictions, the solution overview, module layout, architecture, and batch reports were reviewed.
### Phase 2: Spec Compliance
Every task acceptance criterion is covered by the per-batch reports and unit tests. The final full suite passed with 49 tests.
### Phase 3: Code Quality
Formatter and lint checks passed:
- `.venv/bin/python -m black --check src tests e2e/replay`
- `.venv/bin/python -m ruff check src tests e2e/replay`
No dead imports, style errors, or obvious duplicated component-local contract shapes were found.
### Phase 4: Security Quick-Scan
No hardcoded secrets, `eval`, `exec`, shell subprocess usage, insecure deserialization, or sensitive-data logging patterns were found in `src/`.
### Phase 5: Performance Scan
The implemented code remains lightweight and trigger-oriented for the current scaffold/runtime-contract level. Heavy VPR, matching, Jetson, SITL, and endurance profiling remain release-gate work for later test implementation and deploy phases.
### Phase 6: Cross-Task Consistency
Shared DTOs and component interfaces are consistently consumed through public package surfaces. Batch-level reports show all dependencies were implemented before consumers.
### Phase 7: Architecture Compliance
Observed imports align with the component public API layout:
- Runtime components import shared helpers and contracts through `shared/*` public modules.
- Cross-component imports use package-level public exports such as `tile_manager`, not internal component files.
- No component imports from `internal/`, `_*.py`, or native bridge paths owned by another component.
No architecture baseline file exists, so no baseline delta section is required.
## Verification
- `.venv/bin/python -m black --check src tests e2e/replay` passed.
- `.venv/bin/python -m ruff check src tests e2e/replay` passed.
- `.venv/bin/python -m pytest` passed: 49 tests.
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# Code Review Report
**Batch**: Cumulative test implementation batches 11-13
**Date**: 2026-05-05
**Verdict**: PASS
## Findings
| # | Severity | Category | File:Line | Title |
|---|----------|----------|-----------|-------|
No findings.
## Cumulative Scope
- Batch 11: AZ-233 blackbox/e2e replay infrastructure.
- Batch 12: AZ-234, AZ-235, AZ-236, AZ-237 replay, cache, VIO, and MAVLink blackbox tests.
- Batch 13: AZ-238, AZ-239 restart, cold-start, Jetson resource, and FDR endurance tests.
## Cross-Task Consistency
- All blackbox tests use the shared `e2e.replay.harness` helpers for blocked prerequisites, run-scoped reports, deterministic stubs, and metric aggregation.
- Test files import only public component packages or the test harness; no private runtime internals are imported.
- Hardware and calibration gates consistently report `blocked` instead of passing when prerequisites are unavailable.
## Architecture Compliance
- Test-support code remains under `e2e/**` and `tests/blackbox/**`.
- Runtime product packages under `src/**` were not modified during test implementation.
- No new component-layer cycles or cross-component private imports were introduced.