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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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"""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:
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invoked["_build_c6_tile_store"][0] = True
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return MagicMock(name="TileStore")
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def _track_c7(_config: Config) -> MagicMock:
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invoked["_build_c7_inference"][0] = True
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return MagicMock(name="InferenceRuntime")
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def _track_c3_lightglue(_config: Config, *, inference_runtime: object) -> MagicMock:
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invoked["_build_c3_lightglue_runtime"][0] = True
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del inference_runtime
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return MagicMock(name="LightGlueRuntime")
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def _track_c5_pair(*_args: object, **_kwargs: object) -> tuple[MagicMock, MagicMock]:
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invoked["_build_c5_state_estimator_pair"][0] = True
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return (MagicMock(name="StateEstimator"), MagicMock(name="ISam2GraphHandle"))
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monkeypatch.setattr(airborne_bootstrap, "_build_c6_descriptor_index", _track_c6_index)
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monkeypatch.setattr(airborne_bootstrap, "_build_c6_tile_store", _track_c6_store)
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monkeypatch.setattr(airborne_bootstrap, "_build_c7_inference", _track_c7)
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monkeypatch.setattr(airborne_bootstrap, "_build_c3_lightglue_runtime", _track_c3_lightglue)
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monkeypatch.setattr(airborne_bootstrap, "_build_c5_state_estimator_pair", _track_c5_pair)
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return invoked
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# ----------------------------------------------------------------------
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# AC-687-1: replay-mode without strategy blocks
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def test_ac_687_1_replay_mode_without_c6_block_does_not_raise_keyerror(
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monkeypatch: pytest.MonkeyPatch,
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) -> None:
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# Arrange: replay-mode Config with empty components (no c6_tile_cache,
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# no c7_inference, no c5_state block) — exactly the shape the
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# `gps-denied-replay` CLI produces from the minimal Derkachi yaml
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# (mode: replay + replay: pace/target_fc_dialect).
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_stub_unconditional_helpers(monkeypatch)
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invoked = _stub_guarded_builders(monkeypatch)
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config = Config(mode="replay")
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# Act
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pre_constructed = build_pre_constructed(config)
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# Assert: the guarded keys are absent (not built, not sentinel'd).
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for skipped_key in (
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"c6_descriptor_index",
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"c6_tile_store",
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"c7_inference",
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"c3_lightglue_runtime",
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"c5_isam2_graph_handle",
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):
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assert skipped_key not in pre_constructed, (
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f"AC-687-1: {skipped_key!r} must be omitted in replay mode "
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f"when the corresponding config block is absent"
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)
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for skipped_builder in (
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"_build_c6_descriptor_index",
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"_build_c6_tile_store",
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"_build_c7_inference",
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"_build_c3_lightglue_runtime",
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"_build_c5_state_estimator_pair",
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):
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assert not invoked[skipped_builder][0], (
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f"AC-687-1: {skipped_builder} must not run when the guarded "
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f"config block is absent in replay mode"
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)
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# The unconditional keys still seed — these are needed even in a
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# minimal replay run (c13_fdr for FDR side-channel writes; clock
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# is replaced by compose_root's replay-branch override).
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assert isinstance(pre_constructed["c13_fdr"], FdrClient)
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assert isinstance(pre_constructed["clock"], WallClock)
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def test_ac_687_1_replay_mode_with_c6_block_present_still_builds_c6_seeds(
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monkeypatch: pytest.MonkeyPatch,
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) -> None:
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# Arrange: replay-mode Config that DOES populate c6_tile_cache /
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# c7_inference / c5_state blocks (e.g. a replay scenario that
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# exercises satellite-anchor verification). The guard must NOT
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# fire — those seeds remain authoritative when their blocks are
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# registered.
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_stub_unconditional_helpers(monkeypatch)
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invoked = _stub_guarded_builders(monkeypatch)
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config = Config.with_blocks(
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mode="replay",
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c6_tile_cache={"strategy": "postgres_filesystem"},
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c7_inference={"runtime": "pytorch_fp16"},
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c5_state={"strategy": "gtsam_isam2"},
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)
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# Act
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pre_constructed = build_pre_constructed(config)
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# Assert: every guarded builder ran, every guarded key seeded.
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for builder_name in (
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"_build_c6_descriptor_index",
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"_build_c6_tile_store",
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"_build_c7_inference",
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"_build_c3_lightglue_runtime",
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"_build_c5_state_estimator_pair",
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):
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assert invoked[builder_name][0], (
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f"AC-687-1 inverse: {builder_name} must run when the gating "
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f"config block IS present (replay mode is not a blanket "
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f"opt-out — only a missing block triggers the skip)"
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)
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for seeded_key in (
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"c6_descriptor_index",
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"c6_tile_store",
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"c7_inference",
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"c3_lightglue_runtime",
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"c5_isam2_graph_handle",
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):
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assert seeded_key in pre_constructed
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# ----------------------------------------------------------------------
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# AC-687-2: live-mode regression
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def test_ac_687_2_live_mode_seeds_every_required_key(
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monkeypatch: pytest.MonkeyPatch,
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) -> None:
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# Arrange: live-mode Config (default) with empty components — the
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# guard MUST NOT fire because the mode predicate is false. Stub
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# heavy builders to keep the test independent of FAISS / TensorRT /
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# gtsam build flags.
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_stub_unconditional_helpers(monkeypatch)
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invoked = _stub_guarded_builders(monkeypatch)
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config = Config() # mode defaults to "live"
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expected_keys: set[str] = set().union(*AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS.values())
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# Act
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pre_constructed = build_pre_constructed(config)
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# Assert: every guarded builder ran (live-mode unchanged) and every
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# documented required key is present and non-None.
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for builder_name in (
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"_build_c6_descriptor_index",
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"_build_c6_tile_store",
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"_build_c7_inference",
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"_build_c3_lightglue_runtime",
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"_build_c5_state_estimator_pair",
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):
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assert invoked[builder_name][0], (
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f"AC-687-2: live-mode regression — {builder_name} was "
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f"skipped, but the AZ-687 guard MUST only fire in replay mode"
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)
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missing = expected_keys - pre_constructed.keys()
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assert not missing, (
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f"AC-687-2: live-mode regression — missing keys after the "
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f"AZ-687 guard landed: {sorted(missing)}"
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)
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for key in expected_keys:
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assert pre_constructed[key] is not None, (
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f"AC-687-2: pre_constructed[{key!r}] must map to a real "
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f"instance, not None, in live mode"
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)
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