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Oleksandr Bezdieniezhnykh
2026-05-07 04:08:03 +03:00
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_docs/03_implementation/reviews/batch_01_review.md
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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.
_docs/03_implementation/reviews/batch_02_review.md
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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.
_docs/03_implementation/reviews/batch_03_review.md
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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.
_docs/03_implementation/reviews/batch_04_review.md
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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.
_docs/03_implementation/reviews/batch_05_review.md
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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`
_docs/03_implementation/reviews/batch_09_review.md
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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.
_docs/03_implementation/reviews/batch_11_review.md
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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.
_docs/03_implementation/reviews/batch_12_review.md
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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.