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[AZ-962] [AZ-963] Cycle-4 Tier-2 e2e validation NOT GREEN; file 2 follow-up tickets
Ran the Tier-2 Jetson e2e harness on Jetson AGX Orin:
JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh
Result: 4 failed, 48 passed, 3 skipped, 1 xfailed, 1 xpassed in 90.59s.
Two distinct cycle-4 blockers surfaced:
Blocker 1 (AZ-962, 3 SP):
The AZ-840 orchestrator test that should prove the full 7-step
cycle-4 pipeline works was SKIPPED, not PASSed.
docker-compose.test.jetson.yml does not export
GPS_DENIED_OPERATOR_CONFIG_PATH and the operator_replay.yaml the
README references does not exist anywhere in the repo. Epic AZ-835's
'Done' status across its children was validated by doc-content
presence only, never by actual test execution.
Blocker 2 (AZ-963, 3 SP):
4 tests in test_derkachi_1min.py (AZ-265/AZ-404 60s smoke) regress
with EstimatorFatalError('eskf filter divergence: mahalanobis²=212.31
> 100.0') at frame 233. AZ-895 made the CSV-driven path primary; the
CSV path runs open-loop on the Derkachi fixture (no reference C6 tile
cache -> no satellite anchoring -> ESKF integrates open-loop ->
diverges in ~10s). Before AZ-895 the tlog path was primary and
exited cleanly. test_ac3_within_100m_80pct_of_ticks also XPASSed -
third silent-failure surface flagged for investigation in AZ-963.
Filed both as separate Jira Tasks (see local specs in
_docs/02_tasks/todo/AZ-962_*.md and AZ-963_*.md for full payload,
ACs, options, run-log evidence).
OKVIS2 chain (AZ-943/951/952) stays deferred per user 2026-05-29
directive — Derkachi e2e is not green, directive unchanged.
AZ-842 caveat: the AZ-840/AZ-842 'Done' tracker state I set earlier
today (commits 10c2a1e / 2cc992d) is contingent on whether
convention (A) 'In Testing = shipped' or (B) 'Done = shipped+tested'
applies; user-skipped convention question, the leftover at
_docs/_process_leftovers/2026-05-29_jira_status_drift_audit.md holds
the walk-back payload if (A).
No production code changes.
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
File diff suppressed because one or more lines are too long
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# AZ-962 — Wire `GPS_DENIED_OPERATOR_CONFIG_PATH` + `operator_replay.yaml` into Tier-2 Jetson harness
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**Status**: To Do (Jira) / `todo/` (local)
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**Issue type**: Task
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**Complexity**: 3 SP
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**Cycle**: cycle-4 e2e closure follow-up
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**Jira**: https://denyspopov.atlassian.net/browse/AZ-962
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**Filed**: 2026-05-29 during cycle-4 Tier-2 validation run
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## Why
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Discovered 2026-05-29 during cycle-4 e2e validation run on Tier-2 Jetson AGX Orin. The AZ-840 orchestrator test (`tests/e2e/replay/test_az835_e2e_real_flight.py::test_az840_e2e_real_flight_orchestration`) — the test that's supposed to prove the full 7-step pipeline works end-to-end — was SKIPPED with:
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```
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AZ-839 operator_pre_flight_setup requires GPS_DENIED_OPERATOR_CONFIG_PATH pointing at a YAML
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that registers c6_tile_cache + c7_inference + c10_provisioning + c11_tile_manager blocks
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(Jetson e2e harness sets this; dev macOS does not)
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```
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Two gaps:
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1. `docker-compose.test.jetson.yml` does NOT export `GPS_DENIED_OPERATOR_CONFIG_PATH` despite the comment claiming the Jetson harness sets it. Grep confirms the env var is absent from the compose file.
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2. The YAML the README's Tier-2 invocation references (`/workspace/configs/operator_replay.yaml`) does NOT exist anywhere in the repo. No `configs/` directory, no `**/operator*.yaml` match.
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Net effect: the cycle-4 closure narrative (Epic AZ-835 + children AZ-836/AZ-838/AZ-839/AZ-840/AZ-842 all marked Done) was based on AC verification by **doc-content presence**, not by the orchestrator test actually running. The test has never been demonstrated to PASS end-to-end on the Jetson harness automatically. This is the exact failure mode `meta-rule.mdc` warns against ("Tests that pass by skipping the component they are supposed to exercise create false confidence").
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## Goal
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Make the AZ-840 orchestrator test actually runnable on `bash scripts/run-tests-jetson.sh` (no out-of-band manual env-var setup). The test must either PASS, or fail with a NEW, real, attributable error that lands in a follow-up ticket — not skip silently.
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## Scope
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1. **Author `configs/operator_replay.yaml`** (final location TBD — `configs/` at repo root, or `tests/fixtures/operator_replay.yaml`, or another location consistent with the project's config conventions).
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* Must register at minimum: `c6_tile_cache`, `c7_inference`, `c10_provisioning`, `c11_tile_manager` (the four blocks `conftest.py:322-326` and `_build_operator_pre_flight_cache` consume).
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* Schema must match what `load_config` parses (see `gps_denied_onboard/config/loader.py`).
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* Component types must match what the runtime factories build (see `tests/e2e/replay/conftest.py:430-462` for the `c6_tile_cache.root_dir` override pattern).
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* Imagery / FAISS settings sized for Derkachi fixture: route-driven seeding (AZ-836 / AZ-838), HNSW32 FAISS index, NetVLAD descriptors.
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2. **Wire the env var into `docker-compose.test.jetson.yml`**:
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* Add `GPS_DENIED_OPERATOR_CONFIG_PATH: /opt/configs/operator_replay.yaml` to the `e2e-runner.environment` block.
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* Add a read-only bind mount for the configs dir: `./configs:/opt/configs:ro`.
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* Verify the README's "Tier-2 invocation" example matches what the compose does automatically — no manual `export GPS_DENIED_OPERATOR_CONFIG_PATH=...` step required.
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3. **Re-run Tier-2 and capture the verdict**:
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* `JETSON_SSH_ALIAS=<alias> bash scripts/run-tests-jetson.sh`
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* Confirm the AZ-840 test no longer skips with the env-var or config-file gate.
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* Capture the verdict-report (`_docs/06_metrics/real_flight_validation_<YYYY-MM-DD>.md`) if PASS, or capture the new failure mode for follow-up ticket if FAIL.
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4. **Update README** if the wiring story now differs from the documented one.
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## Acceptance Criteria
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* **AC-1**: `docker-compose.test.jetson.yml` exports `GPS_DENIED_OPERATOR_CONFIG_PATH` pointing at a YAML that is bind-mounted into the e2e-runner container.
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* **AC-2**: `configs/operator_replay.yaml` (or equivalent final path) exists in the repo, registers all 4 required component blocks (`c6_tile_cache` + `c7_inference` + `c10_provisioning` + `c11_tile_manager`), and is consumable by `load_config(os.environ, paths=[config_path])` without `KeyError`.
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* **AC-3**: `bash scripts/run-tests-jetson.sh` no longer reports `SKIPPED [127]: AZ-839 operator_pre_flight_setup requires GPS_DENIED_OPERATOR_CONFIG_PATH ...` for `test_az840_e2e_real_flight_orchestration`.
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* **AC-4**: The orchestrator test either PASSes (and the verdict report at `_docs/06_metrics/real_flight_validation_<YYYY-MM-DD>.md` is captured), or fails with a NEW error that is filed as a separate follow-up ticket (don't paper over the failure — failing test + new ticket is the honest outcome).
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* **AC-5**: README's `### AZ-835 orchestrator test` section accurately describes what `scripts/run-tests-jetson.sh` does (no "set this env var manually" step required when running via the script).
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## Out of scope
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* The 4 regression failures in `test_derkachi_1min.py` (separate AZ-963 ticket).
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* AZ-895 deprecation rollback.
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* Adding a reference C6 tile cache for the Derkachi fixture (large separate work).
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* Updating cycle-4 closure narrative / re-opening AZ-840/AZ-842 status decisions — those are tracker-state questions the user owns.
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## Dependencies
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* **AZ-835** (parent Epic, currently To Do in Jira but tracker-drift suspected) — this ticket closes a real validation gap in that Epic's deliverable.
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* **AZ-839** (C3 fixture, Done locally / In Testing in Jira) — this ticket provides the missing input the fixture's skip-gate complains about.
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* **AZ-840** (C4 orchestrator test, Done locally / In Testing in Jira) — this ticket makes that test actually run.
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## Estimate
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3 SP. Multi-step (YAML + compose wiring + verification re-run), moderate complexity (YAML schema must match runtime factories' expectations), moderate risk (might need iterative tuning on the first re-run).
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## Run-log evidence (2026-05-29 Tier-2)
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```
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JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh
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...
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e2e-runner-1 | collected 57 items
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e2e-runner-1 | tests/e2e/replay/test_az835_e2e_real_flight.py::test_az840_e2e_real_flight_orchestration SKIPPED [ 1%]
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...
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e2e-runner-1 | = 4 failed, 48 passed, 3 skipped, 1 xfailed, 1 xpassed, 1 warning in 90.59s (0:01:30) =
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e2e-runner-1 | SKIPPED [1] tests/e2e/replay/test_az835_e2e_real_flight.py:127:
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AZ-839 operator_pre_flight_setup requires GPS_DENIED_OPERATOR_CONFIG_PATH pointing at a YAML
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that registers c6_tile_cache + c7_inference + c10_provisioning + c11_tile_manager blocks
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(Jetson e2e harness sets this; dev macOS does not)
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```
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## References
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* Compose: `docker-compose.test.jetson.yml`
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* Test: `tests/e2e/replay/test_az835_e2e_real_flight.py:127`
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* Skip-gate definition: `tests/e2e/replay/conftest.py:343-388`
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* README: `tests/e2e/replay/README.md` § `AZ-835 orchestrator test`
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* Sibling ticket (parallel work): AZ-963 — 60s smoke regression
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# AZ-963 — Fix Derkachi 60s smoke regressions: ESKF divergence on CSV-only path with no satellite anchoring (AZ-895 fallout)
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**Status**: To Do (Jira) / `todo/` (local)
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**Issue type**: Task
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**Complexity**: 3 SP (may bump to 5 SP after triage if option B is chosen)
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**Cycle**: cycle-4 e2e closure follow-up
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**Jira**: https://denyspopov.atlassian.net/browse/AZ-963
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**Filed**: 2026-05-29 during cycle-4 Tier-2 validation run
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## Why
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Discovered 2026-05-29 during cycle-4 e2e validation run on Tier-2 Jetson AGX Orin. Four tests in `tests/e2e/replay/test_derkachi_1min.py` regressed to FAIL after the AZ-895 deprecation made the CSV-driven replay path primary:
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* `test_ac1_exits_0_jsonl_count_match` — expects exit 0, got exit 1
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* `test_ac5_determinism_two_runs_diff` — expects two PASSing runs to diff cleanly, both exit 1
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* `test_ac6_pace_realtime_60s_within_5pct` — expects realtime pace within 5%, exits 1 before timing measurement is meaningful
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* `test_ac6_pace_asap_under_30s` — expects asap under 30s, exits 1 in ~13s with fatal error
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All four fail with the same root cause:
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```
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ERROR c5.state.eskf_filter_divergence kv={"source":"vio","mahalanobis_sq":212.31,"threshold_sq":100.0}
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ERROR replay_loop.state_add_vio_fatal frame=233
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EstimatorFatalError('eskf filter divergence on vio: mahalanobis²=212.311 > 100.0')
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```
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The CSV-driven path (now primary since AZ-895 deprecation) runs **open-loop** — the Derkachi fixture has no reference C6 tile cache so C2 VPR / C3 matcher / C4 pose-anchor stages are not wired:
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```
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WARN replay_loop.satellite_anchoring_not_wired: frame=0 — C2 VPR / C4 pose-anchor stages are not wired
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in this run (Derkachi has no reference tile cache); estimator runs open-loop on VIO + IMU. Expect
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monotonically growing position error.
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```
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After ~10s of open-loop integration, ESKF Mahalanobis distance exceeds the 100.0 threshold at frame 233 and the runner crashes with a non-zero exit code. The 4 tests don't care about accuracy but they require a clean exit — which they can't get on the CSV-only path.
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**Why this matters now**: before AZ-895, the tlog path was the primary replay surface and presumably exited cleanly (with some warning about divergence) without raising `EstimatorFatalError`. The AZ-895 deprecation didn't account for the runtime-semantic difference between the two paths in test fixtures that depended on "runner exits 0 even without satellite anchoring".
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## Related XPASS finding (in scope to investigate, may split into sub-ticket)
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`test_ac3_within_100m_80pct_of_ticks` showed up as XPASS in the same run. It was marked xfail because "AC-3 requires the C1+C2+C3+C4+C5 satellite-re-anchoring pipeline. Blocked by AZ-777...". XPASS means "marked xfail but unexpectedly passed" — which is impossible per the documented physics (open-loop ESKF can't meet ≤80% within 100m). Either the test is silently no-oping into a pass, or the xfail mark is stale, or the new semantics changed something that fixed it. Worth investigating because it could be a third silent-failure surface.
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## Goal
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The 4 currently-failing tests must either PASS, or have an explicit gating decision (xfail with a tracked reason, or skip with the right mark) that doesn't silently hide AC coverage. The AC matrix in the README must accurately reflect what's measured vs what's deferred.
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This ticket does NOT mandate a specific fix — the right answer requires triage. Options on the table:
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* **A**: Loosen the ESKF divergence threshold in the test harness path (changes production code; risky — the threshold exists for a real safety reason)
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* **B**: Add a reference C6 tile cache for Derkachi so satellite anchoring works (AZ-777 follow-up scope; large; the fixture has no anchorable imagery yet)
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* **C**: Gate the 4 tests behind a "satellite anchoring required" mark and skip them on the open-loop path (preserves the tests as documentation; doesn't restore AC coverage)
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* **D**: Mark the divergence-driven failures as expected (xfail with rationale: "open-loop ESKF diverges on this fixture")
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* **E**: Investigate why AC-3 XPASSes and whether that finding changes A–D
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* **F**: Some combination after triage
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## Acceptance Criteria
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* **AC-1**: All 4 currently-failing tests (`test_ac1_exits_0_jsonl_count_match`, `test_ac5_determinism_two_runs_diff`, `test_ac6_pace_realtime_60s_within_5pct`, `test_ac6_pace_asap_under_30s`) are either PASSing or have an explicit gating decision with a tracked Jira reference — NOT silently disabled.
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* **AC-2**: The `test_ac3_within_100m_80pct_of_ticks` XPASS is investigated and either becomes a real PASS (xfail mark removed with rationale) or stays xfail with an updated rationale (one of the two; not both, not silent).
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* **AC-3**: No regression to the documented AC matrix in `tests/e2e/replay/README.md` § `AC matrix` — every AC row is still being measured in some form (PASS / honest xfail / honest skip with reason), and the README accurately reflects the current state.
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* **AC-4**: The fix does not bring back the AZ-895-deprecated auto-sync surface (`--time-offset-ms`, `--skip-auto-sync-validation` CLI flags must remain deprecated).
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* **AC-5**: A short triage memo lives at `_docs/03_implementation/batch_*_az963_triage.md` (or equivalent batch report) explaining which of options A–F was chosen and why, with the run-log evidence cited.
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## Out of scope
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* AZ-840 orchestrator test (separate AZ-962 ticket).
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* Reverting AZ-895 to restore the tlog path as primary.
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* Building a reference C6 tile cache for Derkachi (separate large work).
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* Tracker-state cleanup for AZ-840 / AZ-842 (separate user decision).
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## Dependencies
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* **AZ-895** (Done locally / In Testing in Jira) — this ticket addresses fallout from that deprecation.
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* **AZ-265 / AZ-404** (60s suite epic) — the regressed tests are deliverables of that epic.
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* **AZ-777** (Phase 3 superseded) — referenced in the existing xfail rationale; understanding why it's superseded informs the triage.
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* **AZ-962** (sibling) — the AZ-840 orchestrator test is blocked by a different gap; both are cycle-4 e2e closure work but they're independent and can be worked in parallel.
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## Estimate
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3 SP. Investigation + triage + implementation. May bump to 5 SP if option B (build reference tile cache) is chosen — in that case split into sub-tickets per the user's complexity-budget rule (≤5 SP per ticket).
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## Run-log evidence (2026-05-29 Tier-2)
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```
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e2e-runner-1 | = 4 failed, 48 passed, 3 skipped, 1 xfailed, 1 xpassed, 1 warning in 90.59s (0:01:30) =
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e2e-runner-1 | FAILED tests/e2e/replay/test_derkachi_1min.py::test_ac1_exits_0_jsonl_count_match
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e2e-runner-1 | FAILED tests/e2e/replay/test_derkachi_1min.py::test_ac5_determinism_two_runs_diff
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e2e-runner-1 | FAILED tests/e2e/replay/test_derkachi_1min.py::test_ac6_pace_realtime_60s_within_5pct
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e2e-runner-1 | FAILED tests/e2e/replay/test_derkachi_1min.py::test_ac6_pace_asap_under_30s
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e2e-runner-1 | XPASS tests/e2e/replay/test_derkachi_1min.py::test_ac3_within_100m_80pct_of_ticks
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```
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Excerpt from the stdout of the first failure (representative of all 4):
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```
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{"ts":"2026-05-29T10:34:50.397901Z","level":"ERROR","component":"c5_state.eskf_baseline",
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"kind":"c5.state.eskf_filter_divergence",
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"kv":{"source":"vio","mahalanobis_sq":212.31115250586484,"threshold_sq":100.0}}
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{"ts":"2026-05-29T10:34:50.398356Z","level":"ERROR","component":"runtime_root.replay_loop",
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"kind":"replay_loop.state_add_vio_fatal",
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"msg":"replay_loop.state_add_vio_fatal: frame=233 EstimatorFatalError('eskf filter divergence on vio: mahalanobis²=212.311 > 100.0')"}
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```
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## References
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* Failing tests: `tests/e2e/replay/test_derkachi_1min.py:82, 387, 417, 433`
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* XPASS: `tests/e2e/replay/test_derkachi_1min.py::test_ac3_within_100m_80pct_of_ticks`
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* ESKF threshold: `c5_state.eskf_baseline` (Mahalanobis² 100.0 threshold)
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* Satellite-anchoring-not-wired warning: `runtime_root.replay_loop:replay_loop.satellite_anchoring_not_wired`
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* README AC matrix: `tests/e2e/replay/README.md` § `AC matrix`
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* Sibling ticket (parallel work): AZ-962 — orchestrator config wiring
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@@ -8,7 +8,7 @@ status: in_progress
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sub_step:
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sub_step:
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phase: 6
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phase: 6
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name: implement-tasks
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name: implement-tasks
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detail: "batch 8 = tracker-only fix for AZ-842 (To Do → Done, read-back verified) + wider Jira drift audit recorded as `_docs/_process_leftovers/2026-05-29_jira_status_drift_audit.md`. 10 cycle-3/4 tickets (AZ-836/838/839/840/894/895/896/899/900/901) shipped to `done/` locally but stuck in 'In Testing' in Jira; Epic AZ-835 in `todo/` with all 5 children done. User skipped A/B/C/D convention question — leftover holds the bulk-transition payload for whichever convention they pick. **Corrected cycle-4 todo/ remainder**: nothing actionable. Earlier narratives that listed AZ-899/900/901 as 'cycle-4 todo/ remainder for next batches' were fiction — those specs have been in done/ the whole time. OKVIS2 chain (AZ-943/951/952) sits in todo/ but is deferred per user 2026-05-29 directive until after Derkachi e2e flight test passes. Cycle-4 product work is effectively complete pending Derkachi e2e green + AZ-897 UI in ../ui."
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detail: "batch 9 = Tier-2 Jetson e2e validation run NOT GREEN. Ran `JETSON_SSH_ALIAS=jetson bash scripts/run-tests-jetson.sh`; result = 4 failed / 48 passed / 3 skipped / 1 xfailed / 1 xpassed in 90.59s. Two distinct blockers: (1) AZ-840 orchestrator test SKIPPED because `GPS_DENIED_OPERATOR_CONFIG_PATH` not exported by `docker-compose.test.jetson.yml` AND `operator_replay.yaml` missing from repo — Epic AZ-835's 'Done' status was validated by doc-content only, never by actual orchestrator test execution; (2) AZ-895 fallout — 4 tests in `test_derkachi_1min.py` regress with `EstimatorFatalError('eskf filter divergence: mahalanobis²=212.311 > 100.0')` at frame 233 because the CSV-driven path (now primary) runs open-loop on the Derkachi fixture (no reference C6 tile cache → no satellite anchoring). Filed AZ-962 (3 SP, operator config + compose wiring) and AZ-963 (3 SP, ESKF regression triage). OKVIS2 chain stays deferred per user 2026-05-29 directive ('after Derkachi e2e green' — directive unchanged; e2e not green). AZ-842 caveat: the AZ-840/AZ-842 'Done' tracker state set earlier today is contingent on whether convention (A) 'In Testing = shipped' or (B) 'Done = shipped+tested' applies; user-skipped convention question, leftover holds the walk-back payload if needed. Cycle-4 not green. Earlier same-day batch 8 = tracker-only fix for AZ-842 (To Do → Done, read-back verified) + wider Jira drift audit recorded as `_docs/_process_leftovers/2026-05-29_jira_status_drift_audit.md`. 10 cycle-3/4 tickets (AZ-836/838/839/840/894/895/896/899/900/901) shipped to `done/` locally but stuck in 'In Testing' in Jira; Epic AZ-835 in `todo/` with all 5 children done. User skipped A/B/C/D convention question — leftover holds the bulk-transition payload for whichever convention they pick. **Corrected cycle-4 todo/ remainder**: nothing actionable. Earlier narratives that listed AZ-899/900/901 as 'cycle-4 todo/ remainder for next batches' were fiction — those specs have been in done/ the whole time. OKVIS2 chain (AZ-943/951/952) sits in todo/ but is deferred per user 2026-05-29 directive until after Derkachi e2e flight test passes. Cycle-4 product work is effectively complete pending Derkachi e2e green + AZ-897 UI in ../ui."
|
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retry_count: 0
|
retry_count: 0
|
||||||
cycle: 4
|
cycle: 4
|
||||||
tracker: jira
|
tracker: jira
|
||||||
|
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Reference in New Issue
Block a user