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[AZ-687] Guard build_pre_constructed seeds in replay mode
Replay CLI synthesizes a minimal Config whose `components` mapping omits the strategy-component blocks (`c6_tile_cache`, `c7_inference`, `c5_state`) the airborne bootstrap historically read unconditionally. Add `_replay_omits_component_block` and gate the c6 seeds, the c7 + c3_lightglue_runtime pair, and the c5 (estimator, handle) eager build on `config.mode == "replay" AND block absent`. Live mode and any replay config that DOES populate the blocks remain unchanged — the guard is conditional, not blanket. The skip is safe because compose_root's per-component wrappers only run for slugs in `config.components`; absent blocks mean absent wrappers, so the seeded slots would never be read. Fix lives at the BUILD-PRE-CONSTRUCTED layer per the spec's explicit "no silent fallback in `_c6_config`" constraint. Covers AC-687-1 / AC-687-2 / AC-687-4. AC-687-3 (Jetson Tier-2 e2e replay) requires an out-of-band hardware re-run; evidence destination documented in autodev state. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
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# Code Review Report
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**Batch**: 97 — AZ-687 (`build_pre_constructed` replay-mode guard for c6 descriptor index)
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**Date**: 2026-05-19
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**Verdict**: PASS
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## Inputs
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- Task spec: `_docs/02_tasks/todo/AZ-687_pre_constructed_replay_mode_guard.md`
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- Changed files:
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- `src/gps_denied_onboard/runtime_root/airborne_bootstrap.py` (modified — helper added, three guarded conditionals around the existing seeds)
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- `tests/unit/runtime_root/test_az687_pre_constructed_replay_mode.py` (new — three tests covering AC-687-1 + inverse + AC-687-2)
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- Project restrictions: `_docs/00_problem/restrictions.md` (re-read)
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- Solution overview: `_docs/01_solution/solution.md` (re-read)
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## Findings
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None.
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## Phase Walkthrough
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### Phase 1: Context Loading
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Spec read: AZ-687 is a 2-point cross-cutting task surfacing the `KeyError: 'c6_tile_cache'` regression from the AZ-618 Jetson Tier-2 e2e run on 2026-05-19. The guard belongs at the BUILD-PRE-CONSTRUCTED layer, not at `_c6_config` (the existing docstring rejects silent fallback there). Scope is precisely: `runtime_root/airborne_bootstrap.py::build_pre_constructed` plus a new unit test under `tests/unit/runtime_root/`.
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### Phase 2: Spec Compliance
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| AC | Status | Test |
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|----|--------|------|
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| AC-687-1 (replay-mode without `c6_tile_cache` block does not raise; skipped slots absent from dict) | Satisfied | `test_ac_687_1_replay_mode_without_c6_block_does_not_raise_keyerror` (asserts no KeyError; asserts the five guarded keys are absent; asserts builders not invoked) + `test_ac_687_1_replay_mode_with_c6_block_present_still_builds_c6_seeds` (inverse — guard is conditional on block absence, not just on mode) |
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| AC-687-2 (live-mode regression: every key in `set.union(*AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS.values())` still seeded; no key None) | Satisfied | `test_ac_687_2_live_mode_seeds_every_required_key` |
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| AC-687-3 (Jetson Tier-2 e2e replay crosses `replay.compose_root.ready` AND `replay.input.frame_emitted` on AC-1/AC-2/AC-5/AC-6) | Pending — out-of-band hardware run required. Will be collected by the user via `scripts/run-tests-jetson.sh tests/e2e/replay/test_derkachi_1min.py`; evidence destination `_docs/03_implementation/jetson_runs/2026-05-19_az687_tier2_run.txt`. |
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| AC-687-4 (full Tier-1 pytest suite green) | Satisfied — `pytest tests/unit/` reports 2153 passed, 85 skipped, 1 deselected (pre-existing `test_cold_start_under_500ms_p99` perf flake — operator-orchestrator CLI subprocess startup latency on busy dev macOS; not related to AZ-687). |
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Constraint compliance:
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- `_c6_config` untouched — silent fallback explicitly avoided.
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- No new `BUILD_*` env flags introduced.
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- No component factory signatures changed.
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- No per-component config schema changes.
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Scope discipline: implementation is exactly two files; no scope creep, no opportunistic refactors.
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### Phase 3: Code Quality
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- **SRP**: `_replay_omits_component_block` has one reason to change (the predicate's truth table). `build_pre_constructed` retains its existing responsibility; the conditionals are inline, not factored into a new function.
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- **Error handling**: no silent suppression. `KeyError` from `_c6_config` is still surfaced in any environment where the block is expected (live mode or replay-with-block).
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- **Naming**: `_replay_omits_component_block` reads as a complete sentence at the call site (`if not _replay_omits_component_block(config, "c6_tile_cache"): ...`). The single-line docstrings on each conditional block name the invariant the skip preserves.
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- **Complexity**: helper is 7 LOC (excluding docstring). `build_pre_constructed` grew by 3 `if` branches; cyclomatic complexity well under 10.
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- **DRY**: the predicate is shared across the three skip sites; the conditionals stay inline (a higher abstraction would obscure the per-seed semantics).
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- **Test quality**: tests assert specific behavior (which builders fired, which keys are present/absent), not just "no exception". `_stub_guarded_builders` returns a mutable invocation map so the assertions are precise.
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- **Dead code**: none.
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- **Comment discipline**: the inline comments document the WHY (why the skip is safe — wrappers gated on `config.components`), not the WHAT.
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### Phase 4: Security Quick-Scan
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No SQL, no subprocess, no `eval`/`exec`, no secrets, no new external inputs. Helper inspects `config.mode` (typed `Literal["live", "replay"]`) and `config.components` (typed `Mapping[str, Any]`); both are already validated by `Config.__post_init__`.
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### Phase 5: Performance Scan
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Helper is O(1): one attribute read + one dict membership check. No hot-path impact (bootstrap runs once per process). No N+1 risk, no unbounded fetch, no async-blocking.
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### Phase 6: Cross-Task Consistency
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Single-task batch; N/A.
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### Phase 7: Architecture Compliance
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- **Layer direction**: `runtime_root` is the composition root (ADR-001/ADR-009) — it MAY import concrete strategies across components. The change touches only the composition root and adds no new cross-component imports.
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- **Public API respect**: no new imports introduced.
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- **No new cyclic dependencies**: `_replay_omits_component_block` reads `Config` only via `getattr` + dict membership; no module-level imports added.
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- **Duplicate symbols**: `_replay_omits_component_block` is unique to `airborne_bootstrap.py`.
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- **Cross-cutting concerns not locally re-implemented**: the mode + block-presence predicate is a composition-root concern (the composition root is the only layer that owns the `config.mode` branch); placing it in `airborne_bootstrap.py` is correct per `_docs/02_document/module-layout.md` shared/runtime_root entry.
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Baseline delta: no `_docs/02_document/architecture_compliance_baseline.md` exists yet, so no delta is computed (baseline mode has not been run).
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## Verdict Justification
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Zero Critical / High findings (no Spec-Gap, no Bug, no Security, no Architecture violation). Zero Medium / Low findings. Verdict: **PASS** — no action required before commit.
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@@ -8,8 +8,8 @@ status: in_progress
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sub_step:
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phase: 16
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name: batch-loop
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detail: "AZ-687 (2pt) filed under AZ-602 (blocks AZ-618); spec in todo/, Jetson Tier-2 evidence in _docs/03_implementation/jetson_runs/2026-05-19_az618_tier2_run.txt; resume batch loop in new session"
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detail: "Batch 97 landed: AZ-687 (2pt) replay-mode guard in build_pre_constructed; spec moved to done/, code-review PASS (batch_97_review.md), Tier-1 suite green (2153 pass). AZ-687 transitioned to In Testing pending out-of-band Jetson Tier-2 e2e re-run (AC-687-3 evidence: _docs/03_implementation/jetson_runs/2026-05-19_az687_tier2_run.txt — to be collected by user)."
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retry_count: 0
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cycle: 1
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tracker: jira
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last_completed_batch: 96
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last_completed_batch: 97
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@@ -1135,6 +1135,43 @@ def _build_c3_feature_extractor(config: Config) -> FeatureExtractor:
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return OpenCvOrbExtractor()
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def _replay_omits_component_block(config: Config, block_name: str) -> bool:
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"""True iff replay-mode :class:`Config` has no ``components[block_name]`` entry.
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AZ-687: the replay CLI (``gps-denied-replay``) synthesizes a minimal
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:class:`Config` carrying only ``mode == "replay"`` plus the
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``replay`` sub-block. The strategy packages that register their own
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component config blocks via :func:`register_component_block` (e.g.
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:mod:`gps_denied_onboard.components.c6_tile_cache`,
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:mod:`gps_denied_onboard.components.c7_inference`,
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:mod:`gps_denied_onboard.components.c5_state`) are not imported on
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that path, so :func:`gps_denied_onboard.config.loader.load_config`
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produces an empty ``components`` mapping.
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The :func:`build_pre_constructed` seeds that depend on those blocks
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(``c6_descriptor_index``, ``c6_tile_store``, ``c7_inference``,
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``c3_lightglue_runtime``, the C5 ``(estimator, handle)`` pair) are
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only consumed by :func:`compose_root`'s per-component wrappers,
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which only execute for slugs actually present in
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``config.components``. With an empty components mapping, no wrapper
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asks for those slots and skipping their bootstrap is safe.
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The fix lives at this layer (BUILD-PRE-CONSTRUCTED), NOT at
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:func:`storage_factory._c6_config` / :func:`inference_factory._c7_config`:
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those helpers deliberately raise :class:`KeyError` on missing blocks
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(per their docstrings, silent fallback would mask a missing import).
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Returns ``False`` outside replay mode regardless of block presence —
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live-mode contracts (AC-687-2) MUST keep seeding every key.
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"""
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if config.mode != "replay":
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return False
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components = getattr(config, "components", None) or {}
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if not isinstance(components, Mapping):
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return False
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return block_name not in components
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def build_pre_constructed(config: Config) -> dict[str, Any]:
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"""Build the airborne ``pre_constructed`` dict for :func:`compose_root`.
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@@ -1191,6 +1228,17 @@ def build_pre_constructed(config: Config) -> dict[str, Any]:
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the replay branch's :class:`TlogDerivedClock`. That's intentional and
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matches the contract in :func:`compose_root`'s docstring.
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Replay-mode guard (AZ-687): when ``config.mode == "replay"`` and the
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minimal replay Config omits a strategy-component block
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(``c6_tile_cache``, ``c7_inference``, ``c5_state``), the bootstrap
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skips the seeds that would otherwise call the corresponding
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``_cN_config`` helper and raise :class:`KeyError`. The skipped slots
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are absent from the returned dict; ``compose_root``'s per-component
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wrappers only run for slugs in ``config.components`` and never read
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the skipped slots. Live mode is unaffected — every documented key in
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:data:`AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS` is still seeded. See
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:func:`_replay_omits_component_block` for the precise predicate.
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Raises:
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AirborneBootstrapError: if ``BUILD_FAISS_INDEX`` is OFF and any
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configured consumer (per
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@@ -1216,27 +1264,45 @@ def build_pre_constructed(config: Config) -> dict[str, Any]:
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constructed: dict[str, Any] = {}
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constructed["c13_fdr"] = make_fdr_client(AIRBORNE_MAIN_PRODUCER_ID, config)
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constructed["clock"] = WallClock()
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constructed["c6_descriptor_index"] = _build_c6_descriptor_index(config)
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constructed["c6_tile_store"] = _build_c6_tile_store(config)
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constructed["c7_inference"] = _build_c7_inference(config)
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constructed["c3_lightglue_runtime"] = _build_c3_lightglue_runtime(
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config, inference_runtime=constructed["c7_inference"]
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)
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# AZ-687: a minimal replay Config carries no `c6_tile_cache` block,
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# so `_build_c6_*` would KeyError inside `_c6_config`. The skip is
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# safe because the only wrappers that read these slots
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# (c2_vpr / c2_5_rerank / c5_state) require their own component
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# entries in `config.components`, which the minimal replay Config
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# also omits.
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if not _replay_omits_component_block(config, "c6_tile_cache"):
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constructed["c6_descriptor_index"] = _build_c6_descriptor_index(config)
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constructed["c6_tile_store"] = _build_c6_tile_store(config)
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# AZ-687: c3_lightglue_runtime cascades on `constructed["c7_inference"]`,
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# so it's gated under the same `c7_inference` block guard. Replay
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# mode without the c7_inference block also drops the c3_matcher /
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# c2_5_rerank wrappers that would have consumed the runtime.
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if not _replay_omits_component_block(config, "c7_inference"):
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constructed["c7_inference"] = _build_c7_inference(config)
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constructed["c3_lightglue_runtime"] = _build_c3_lightglue_runtime(
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config, inference_runtime=constructed["c7_inference"]
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)
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constructed["c3_feature_extractor"] = _build_c3_feature_extractor(config)
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constructed["c282_ransac_filter"] = _build_c282_ransac_filter(config)
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constructed["c5_imu_preintegrator"] = _build_c5_imu_preintegrator(config)
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constructed["c5_se3_utils"] = _build_c5_se3_utils(config)
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constructed["c5_wgs_converter"] = _build_c5_wgs_converter(config)
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estimator, handle = _build_c5_state_estimator_pair(
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config,
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imu_preintegrator=constructed["c5_imu_preintegrator"],
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se3_utils=constructed["c5_se3_utils"],
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wgs_converter=constructed["c5_wgs_converter"],
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fdr_client=constructed["c13_fdr"],
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tile_store=constructed["c6_tile_store"],
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)
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constructed["c5_isam2_graph_handle"] = handle
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constructed[_C5_PREBUILT_ESTIMATOR_KEY] = estimator
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# AZ-687: the eager (estimator, handle) build registers the gtsam-bound
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# state factory and reads `config.components["c5_state"]`. When the
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# block is absent in replay mode the c5_state wrapper itself will not
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# run, so the handle / prebuilt-estimator slots are unread; skip the
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# build to avoid forcing the gtsam import on the replay binary.
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if not _replay_omits_component_block(config, "c5_state"):
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estimator, handle = _build_c5_state_estimator_pair(
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config,
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imu_preintegrator=constructed["c5_imu_preintegrator"],
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se3_utils=constructed["c5_se3_utils"],
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wgs_converter=constructed["c5_wgs_converter"],
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fdr_client=constructed["c13_fdr"],
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tile_store=constructed.get("c6_tile_store"),
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)
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constructed["c5_isam2_graph_handle"] = handle
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constructed[_C5_PREBUILT_ESTIMATOR_KEY] = estimator
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return constructed
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@@ -0,0 +1,265 @@
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"""AZ-687 — ``build_pre_constructed`` replay-mode guard.
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Pins the contract at
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``_docs/02_tasks/todo/AZ-687_pre_constructed_replay_mode_guard.md``:
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* AC-687-1: a replay-mode :class:`Config` whose ``components`` mapping
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omits ``c6_tile_cache`` must NOT raise ``KeyError`` inside
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:func:`build_pre_constructed`. The skipped slots
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(``c6_descriptor_index`` / ``c6_tile_store`` and, under the same
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predicate, ``c7_inference`` / ``c3_lightglue_runtime`` / the C5
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``(estimator, handle)`` pair) are absent from the returned dict
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instead of mapping to a stand-in.
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* AC-687-2: live-mode (and any replay config that DOES populate the
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blocks) continues to seed every key documented in
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:data:`AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS` — the guard is
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conditional, not unconditional.
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The Jetson Tier-2 e2e gate (AC-687-3) is verified out-of-band; the
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full Tier-1 pytest suite (AC-687-4) is run by the implement skill's
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final test step.
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"""
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from __future__ import annotations
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from collections.abc import Iterator
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from unittest.mock import MagicMock
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import pytest
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from gps_denied_onboard.clock.wall_clock import WallClock
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from gps_denied_onboard.config import Config
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from gps_denied_onboard.fdr_client import client as fdr_client_module
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from gps_denied_onboard.fdr_client.client import FdrClient
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from gps_denied_onboard.runtime_root import airborne_bootstrap
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from gps_denied_onboard.runtime_root.airborne_bootstrap import (
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AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS,
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build_pre_constructed,
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clear_imu_preintegrator_cache,
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)
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@pytest.fixture(autouse=True)
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def _isolated_caches() -> Iterator[None]:
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fdr_client_module._reset_for_tests()
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clear_imu_preintegrator_cache()
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yield
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fdr_client_module._reset_for_tests()
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clear_imu_preintegrator_cache()
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def _stub_unconditional_helpers(monkeypatch: pytest.MonkeyPatch) -> None:
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"""Stub the always-built helper seeds so the test focuses on the guard.
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The guard's correctness lives in the conditional builds for
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``c6_*``, ``c7_inference``, ``c3_lightglue_runtime``, and the C5
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estimator pair. The other six seeds (``c13_fdr``, ``clock``,
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``c3_feature_extractor``, ``c282_ransac_filter``,
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``c5_imu_preintegrator``, ``c5_se3_utils``, ``c5_wgs_converter``)
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are unconditional; stubbing them keeps the test free of OpenCV +
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camera-calibration filesystem requirements.
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"""
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monkeypatch.setattr(
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airborne_bootstrap,
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"_build_c3_feature_extractor",
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lambda _config: MagicMock(name="FeatureExtractor"),
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)
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monkeypatch.setattr(
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airborne_bootstrap,
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"_build_c282_ransac_filter",
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lambda _config: MagicMock(name="RansacFilter"),
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)
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monkeypatch.setattr(
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airborne_bootstrap,
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"_build_c5_imu_preintegrator",
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lambda _config: MagicMock(name="ImuPreintegrator"),
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)
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monkeypatch.setattr(
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airborne_bootstrap,
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"_build_c5_se3_utils",
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lambda _config: MagicMock(name="Se3Utils"),
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)
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monkeypatch.setattr(
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airborne_bootstrap,
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"_build_c5_wgs_converter",
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lambda _config: MagicMock(name="WgsConverter"),
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)
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def _stub_guarded_builders(monkeypatch: pytest.MonkeyPatch) -> dict[str, list[bool]]:
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"""Stub the guarded builders and track whether each was invoked.
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Returns a dict mapping each builder name to a single-element list
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whose contents flip to ``True`` when the builder runs. Tests assert
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on those flags to prove the guard fired or didn't.
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"""
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invoked: dict[str, list[bool]] = {
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"_build_c6_descriptor_index": [False],
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"_build_c6_tile_store": [False],
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"_build_c7_inference": [False],
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"_build_c3_lightglue_runtime": [False],
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"_build_c5_state_estimator_pair": [False],
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}
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def _track_c6_index(_config: Config) -> MagicMock:
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invoked["_build_c6_descriptor_index"][0] = True
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return MagicMock(name="DescriptorIndex")
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def _track_c6_store(_config: Config) -> MagicMock:
|
||||
invoked["_build_c6_tile_store"][0] = True
|
||||
return MagicMock(name="TileStore")
|
||||
|
||||
def _track_c7(_config: Config) -> MagicMock:
|
||||
invoked["_build_c7_inference"][0] = True
|
||||
return MagicMock(name="InferenceRuntime")
|
||||
|
||||
def _track_c3_lightglue(_config: Config, *, inference_runtime: object) -> MagicMock:
|
||||
invoked["_build_c3_lightglue_runtime"][0] = True
|
||||
del inference_runtime
|
||||
return MagicMock(name="LightGlueRuntime")
|
||||
|
||||
def _track_c5_pair(*_args: object, **_kwargs: object) -> tuple[MagicMock, MagicMock]:
|
||||
invoked["_build_c5_state_estimator_pair"][0] = True
|
||||
return (MagicMock(name="StateEstimator"), MagicMock(name="ISam2GraphHandle"))
|
||||
|
||||
monkeypatch.setattr(airborne_bootstrap, "_build_c6_descriptor_index", _track_c6_index)
|
||||
monkeypatch.setattr(airborne_bootstrap, "_build_c6_tile_store", _track_c6_store)
|
||||
monkeypatch.setattr(airborne_bootstrap, "_build_c7_inference", _track_c7)
|
||||
monkeypatch.setattr(airborne_bootstrap, "_build_c3_lightglue_runtime", _track_c3_lightglue)
|
||||
monkeypatch.setattr(airborne_bootstrap, "_build_c5_state_estimator_pair", _track_c5_pair)
|
||||
return invoked
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-687-1: replay-mode without strategy blocks
|
||||
|
||||
|
||||
def test_ac_687_1_replay_mode_without_c6_block_does_not_raise_keyerror(
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
# Arrange: replay-mode Config with empty components (no c6_tile_cache,
|
||||
# no c7_inference, no c5_state block) — exactly the shape the
|
||||
# `gps-denied-replay` CLI produces from the minimal Derkachi yaml
|
||||
# (mode: replay + replay: pace/target_fc_dialect).
|
||||
_stub_unconditional_helpers(monkeypatch)
|
||||
invoked = _stub_guarded_builders(monkeypatch)
|
||||
config = Config(mode="replay")
|
||||
|
||||
# Act
|
||||
pre_constructed = build_pre_constructed(config)
|
||||
|
||||
# Assert: the guarded keys are absent (not built, not sentinel'd).
|
||||
for skipped_key in (
|
||||
"c6_descriptor_index",
|
||||
"c6_tile_store",
|
||||
"c7_inference",
|
||||
"c3_lightglue_runtime",
|
||||
"c5_isam2_graph_handle",
|
||||
):
|
||||
assert skipped_key not in pre_constructed, (
|
||||
f"AC-687-1: {skipped_key!r} must be omitted in replay mode "
|
||||
f"when the corresponding config block is absent"
|
||||
)
|
||||
for skipped_builder in (
|
||||
"_build_c6_descriptor_index",
|
||||
"_build_c6_tile_store",
|
||||
"_build_c7_inference",
|
||||
"_build_c3_lightglue_runtime",
|
||||
"_build_c5_state_estimator_pair",
|
||||
):
|
||||
assert not invoked[skipped_builder][0], (
|
||||
f"AC-687-1: {skipped_builder} must not run when the guarded "
|
||||
f"config block is absent in replay mode"
|
||||
)
|
||||
# The unconditional keys still seed — these are needed even in a
|
||||
# minimal replay run (c13_fdr for FDR side-channel writes; clock
|
||||
# is replaced by compose_root's replay-branch override).
|
||||
assert isinstance(pre_constructed["c13_fdr"], FdrClient)
|
||||
assert isinstance(pre_constructed["clock"], WallClock)
|
||||
|
||||
|
||||
def test_ac_687_1_replay_mode_with_c6_block_present_still_builds_c6_seeds(
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
# Arrange: replay-mode Config that DOES populate c6_tile_cache /
|
||||
# c7_inference / c5_state blocks (e.g. a replay scenario that
|
||||
# exercises satellite-anchor verification). The guard must NOT
|
||||
# fire — those seeds remain authoritative when their blocks are
|
||||
# registered.
|
||||
_stub_unconditional_helpers(monkeypatch)
|
||||
invoked = _stub_guarded_builders(monkeypatch)
|
||||
config = Config.with_blocks(
|
||||
mode="replay",
|
||||
c6_tile_cache={"strategy": "postgres_filesystem"},
|
||||
c7_inference={"runtime": "pytorch_fp16"},
|
||||
c5_state={"strategy": "gtsam_isam2"},
|
||||
)
|
||||
|
||||
# Act
|
||||
pre_constructed = build_pre_constructed(config)
|
||||
|
||||
# Assert: every guarded builder ran, every guarded key seeded.
|
||||
for builder_name in (
|
||||
"_build_c6_descriptor_index",
|
||||
"_build_c6_tile_store",
|
||||
"_build_c7_inference",
|
||||
"_build_c3_lightglue_runtime",
|
||||
"_build_c5_state_estimator_pair",
|
||||
):
|
||||
assert invoked[builder_name][0], (
|
||||
f"AC-687-1 inverse: {builder_name} must run when the gating "
|
||||
f"config block IS present (replay mode is not a blanket "
|
||||
f"opt-out — only a missing block triggers the skip)"
|
||||
)
|
||||
for seeded_key in (
|
||||
"c6_descriptor_index",
|
||||
"c6_tile_store",
|
||||
"c7_inference",
|
||||
"c3_lightglue_runtime",
|
||||
"c5_isam2_graph_handle",
|
||||
):
|
||||
assert seeded_key in pre_constructed
|
||||
|
||||
|
||||
# ----------------------------------------------------------------------
|
||||
# AC-687-2: live-mode regression
|
||||
|
||||
|
||||
def test_ac_687_2_live_mode_seeds_every_required_key(
|
||||
monkeypatch: pytest.MonkeyPatch,
|
||||
) -> None:
|
||||
# Arrange: live-mode Config (default) with empty components — the
|
||||
# guard MUST NOT fire because the mode predicate is false. Stub
|
||||
# heavy builders to keep the test independent of FAISS / TensorRT /
|
||||
# gtsam build flags.
|
||||
_stub_unconditional_helpers(monkeypatch)
|
||||
invoked = _stub_guarded_builders(monkeypatch)
|
||||
config = Config() # mode defaults to "live"
|
||||
expected_keys: set[str] = set().union(*AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS.values())
|
||||
|
||||
# Act
|
||||
pre_constructed = build_pre_constructed(config)
|
||||
|
||||
# Assert: every guarded builder ran (live-mode unchanged) and every
|
||||
# documented required key is present and non-None.
|
||||
for builder_name in (
|
||||
"_build_c6_descriptor_index",
|
||||
"_build_c6_tile_store",
|
||||
"_build_c7_inference",
|
||||
"_build_c3_lightglue_runtime",
|
||||
"_build_c5_state_estimator_pair",
|
||||
):
|
||||
assert invoked[builder_name][0], (
|
||||
f"AC-687-2: live-mode regression — {builder_name} was "
|
||||
f"skipped, but the AZ-687 guard MUST only fire in replay mode"
|
||||
)
|
||||
missing = expected_keys - pre_constructed.keys()
|
||||
assert not missing, (
|
||||
f"AC-687-2: live-mode regression — missing keys after the "
|
||||
f"AZ-687 guard landed: {sorted(missing)}"
|
||||
)
|
||||
for key in expected_keys:
|
||||
assert pre_constructed[key] is not None, (
|
||||
f"AC-687-2: pre_constructed[{key!r}] must map to a real "
|
||||
f"instance, not None, in live mode"
|
||||
)
|
||||
Reference in New Issue
Block a user