mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 07:01:14 +00:00
[AZ-696] chore: cycle-2 bootstrap — gitignore tlog inputs, Step 9 PBIs
Pre-implement chore commit to land orchestration artifacts produced by
autodev cycle-2 Step 9 (New Task), so that Step 10 (Implement) starts
against a clean working tree.
What's included:
- .gitignore: exclude _docs/00_problem/input_data/**/*.{tlog,mp4,h264}
(derkachi.tlog is a 5.8 MB binary input and stays out-of-band).
- _docs/02_tasks/todo/AZ-697..AZ-702: 6 new PBI specs under epic AZ-696
(tlog ground-truth extractor, mid-flight trim+align, real-flight
validation runner, replay map viz, HTTP replay API, KHP20S30 calib).
- _docs/02_tasks/_dependencies_table.md: dep edges for the 6 PBIs.
- _docs/_autodev_state.md: status -> in_progress, step 10 cycle 2.
- _docs/_process_leftovers/...opencv_pin_deferred.md: replay-attempt
timestamp refreshed (gtsam-numpy-2 wheels still not published;
leftover remains open).
No source code is modified by this commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -45,6 +45,11 @@ tests/fixtures/tiles_corpus/*.jpg
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tests/fixtures/tiles_corpus/*.png
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tests/fixtures/tiles_corpus/*.png
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e2e/fixtures/sitl_replay/
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e2e/fixtures/sitl_replay/
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# Problem-folder flight-log inputs (binary, out-of-band)
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_docs/00_problem/input_data/**/*.tlog
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_docs/00_problem/input_data/**/*.mp4
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_docs/00_problem/input_data/**/*.h264
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# Editor / OS noise
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# Editor / OS noise
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.idea/
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.idea/
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.vscode/
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.vscode/
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@@ -177,6 +177,12 @@ are all declared and documented below under **Cycle Check**.
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| AZ-623 | AZ-618 Phase E: build_pre_constructed seeds c282_ransac_filter + c5 helpers | 3 | AZ-619, AZ-282, AZ-276, AZ-277, AZ-279, AZ-381 | AZ-602 |
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| AZ-623 | AZ-618 Phase E: build_pre_constructed seeds c282_ransac_filter + c5 helpers | 3 | AZ-619, AZ-282, AZ-276, AZ-277, AZ-279, AZ-381 | AZ-602 |
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| AZ-624 | AZ-618 Phase F: wire build_pre_constructed into main() + AC-1..AC-5 (incl. Jetson tier-2) | 2 | AZ-619, AZ-620, AZ-621, AZ-622, AZ-623 | AZ-602 |
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| AZ-624 | AZ-618 Phase F: wire build_pre_constructed into main() + AC-1..AC-5 (incl. Jetson tier-2) | 2 | AZ-619, AZ-620, AZ-621, AZ-622, AZ-623 | AZ-602 |
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| AZ-687 | build_pre_constructed must guard c6_descriptor_index when config.mode == 'replay' | 2 | AZ-619, AZ-620, AZ-624 | AZ-602 |
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| AZ-687 | build_pre_constructed must guard c6_descriptor_index when config.mode == 'replay' | 2 | AZ-619, AZ-620, AZ-624 | AZ-602 |
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| AZ-697 | T1: Direct binary-tlog GPS-truth extractor | 3 | None | AZ-696 |
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| AZ-698 | T2: Tlog trim + mid-flight alignment for replay | 5 | AZ-697 | AZ-696 |
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| AZ-699 | T3: Real-flight validation runner + accuracy report | 3 | AZ-697 | AZ-696 |
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| AZ-700 | T4: Replay map visualization (estimated vs ground-truth tracks) | 3 | AZ-699 | AZ-696 |
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| AZ-701 | T5: HTTP Replay API service (POST tlog+video, return GPS fixes + map) | 5 | AZ-699, AZ-700 | AZ-696 |
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| AZ-702 | T6: Topotek KHP20S30 camera calibration (factory-sheet approximation) | 1 | None | AZ-696 |
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## Notes
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## Notes
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@@ -0,0 +1,120 @@
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# Direct binary-tlog GPS-truth extractor
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**Task**: AZ-697_tlog_ground_truth_extractor
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**Name**: Direct binary-tlog GPS-truth extractor (replaces data_imu.csv middle-man)
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**Description**: New `tlog_ground_truth.py` module that streams `GLOBAL_POSITION_INT` (or falls back to `GPS_RAW_INT`) from a binary ArduPilot tlog into a typed `TlogGroundTruth` DTO. Production helper (not test-only).
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**Complexity**: 3 points
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**Dependencies**: None
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**Component**: replay_input (cross-cutting validation helper)
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**Tracker**: AZ-697
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**Epic**: AZ-696
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## Problem
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Cycle-1 AC-3 (≤ 100 m horizontal error for 80 % of ticks) was permanently
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`@xfail` partly because the test fed the SUT a tlog synthesized from
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`_docs/00_problem/input_data/flight_derkachi/data_imu.csv`, and read
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ground truth from the same CSV — comparing the estimator to itself.
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A real binary `derkachi.tlog` (5.8 MB ArduPilot tlog, MAVLink v2) was
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committed on 2026-05-20. The remaining gap is a direct extractor that
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reads `GLOBAL_POSITION_INT` (or `GPS_RAW_INT`) from the binary and
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returns a typed DTO suitable for the AC-3 comparison helper.
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## Outcome
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- A new production module `src/gps_denied_onboard/replay_input/tlog_ground_truth.py`
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exposes `load_tlog_ground_truth(path: Path) -> TlogGroundTruth`.
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- The existing AC-3 comparison helpers (`l2_horizontal_m`,
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`match_percentage`) move from `tests/e2e/replay/_helpers.py` into
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`src/gps_denied_onboard/helpers/` so they are production code, not
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test-only.
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- The replay-test conftest uses the new extractor when the real tlog is
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present; CSV path remains as a synth-tlog fallback.
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## Scope
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### Included
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- New `TlogGroundTruth` dataclass (frozen + slotted) with per-record
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`ts_ns`, `lat_deg`, `lon_deg`, `alt_m`, `hdg_deg`, `vx_m_s`, `vy_m_s`,
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`vz_m_s` fields.
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- `load_tlog_ground_truth(path)` — lazy `pymavlink.mavutil` open
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mirroring `replay_input/auto_sync.py::_open_tlog`.
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- Move `l2_horizontal_m` + `match_percentage` from test helpers to
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`src/gps_denied_onboard/helpers/gps_compare.py`.
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- Wire `tests/e2e/replay/conftest.py` to consume the new path when
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`derkachi.tlog` exists.
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- Unit tests under `tests/unit/replay_input/test_tlog_ground_truth.py`
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using a synthetic tlog (extend `tests/e2e/replay/_tlog_synth.py`).
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### Excluded
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- Tlog trimming for mid-flight slices — AZ-698 (T2).
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- Accuracy report writing — AZ-699 (T3).
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- Map visualization — AZ-700 (T4).
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## Acceptance Criteria
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**AC-1: Happy path on real tlog**
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Given the committed `derkachi.tlog`
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When `load_tlog_ground_truth(derkachi.tlog)` runs
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Then it returns `TlogGroundTruth` with `len(records) > 100` and lat ≈ 50.08, lon ≈ 36.11
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**AC-2: Empty GPS gracefully**
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Given a tlog with no `GLOBAL_POSITION_INT` / `GPS_RAW_INT` messages
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When the extractor runs
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Then it returns `TlogGroundTruth(records=())` and logs WARN (does NOT raise)
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**AC-3: Fallback precedence**
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Given a tlog containing only `GPS_RAW_INT` (no `GLOBAL_POSITION_INT`)
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When the extractor runs
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Then it returns records sourced from `GPS_RAW_INT`
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**AC-4: Type safety**
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When `mypy --strict src/gps_denied_onboard/replay_input/tlog_ground_truth.py` runs
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Then it reports zero errors
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**AC-5: Comparison helpers in production**
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Given the moved `l2_horizontal_m` + `match_percentage`
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When imported from `gps_denied_onboard.helpers.gps_compare`
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Then they behave identically to the prior test-helpers location (snapshot test)
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## Non-Functional Requirements
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**Performance**
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- `load_tlog_ground_truth(derkachi.tlog)` (5.8 MB, ~60 s of GPS at 5 Hz) returns in < 2 s on Tier-1 hardware.
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**Reliability**
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- Lazy pymavlink import; missing dep raises `ReplayInputAdapterError` per project convention.
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## Unit Tests
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| AC Ref | What to Test | Required Outcome |
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|--------|-------------|-----------------|
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| AC-1 | Real derkachi.tlog parse | Non-empty TlogGroundTruth with Derkachi geofence lat/lon |
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| AC-2 | Tlog with no GPS messages | Empty records tuple + WARN log |
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| AC-3 | GPS_RAW_INT fallback | Records sourced from GPS_RAW_INT when GLOBAL_POSITION_INT absent |
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| AC-3 | Mixed GLOBAL_POSITION_INT + GPS_RAW_INT | GLOBAL_POSITION_INT wins per AC-3 |
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| AC-4 | mypy --strict | Zero errors |
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| AC-5 | Helper move snapshot | Same numeric output as prior test-helpers location |
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## Blackbox Tests
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| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
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|--------|------------------------|-------------|-------------------|----------------|
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| AC-1 | derkachi.tlog (real) | Load full tlog | ≥ 100 records, Derkachi geofence | Perf < 2s |
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## Constraints
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- pymavlink is already a project dep (used by C8); MUST be lazy-imported (auto_sync.py pattern).
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- New module MUST follow the project's frozen + slotted dataclass convention.
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- File ownership goes in `_docs/02_document/module-layout.md` per AZ-696 epic layout (no contract — internal helper).
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## Risks & Mitigation
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**Risk 1: MAVLink unit-conversion bugs**
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- *Risk*: Mavlink encodes lat/lon as int × 1e7. Forgetting the divide ships records off by 7 orders of magnitude.
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- *Mitigation*: AC-1 asserts Derkachi geofence values; unit test snapshots a known fixture.
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**Risk 2: pymavlink import flakiness on Jetson**
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- *Risk*: pymavlink occasionally fails to import on aarch64.
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- *Mitigation*: Lazy import + raise `ReplayInputAdapterError` (existing pattern).
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@@ -0,0 +1,118 @@
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# Tlog trim + mid-flight alignment for replay
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**Task**: AZ-698_tlog_trim_midflight_alignment
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**Name**: Trim tlog to video window + align mid-flight slices via cross-correlation
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**Description**: Extend `replay_input/auto_sync.py` and `TlogReplayFcAdapter` to handle the case where the video is a mid-flight slice of a longer tlog (not the takeoff). Adds `find_aligned_window` (cross-correlation of IMU energy vs video optical-flow magnitude) and a `--auto-trim` CLI flag.
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**Complexity**: 5 points
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**Dependencies**: AZ-697
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**Component**: replay_input + c8_fc_adapter
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**Tracker**: AZ-698
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**Epic**: AZ-696
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## Problem
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`replay_input/auto_sync.py::detect_tlog_takeoff` walks the tlog HEAD for
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the takeoff event (sustained vertical accel + attitude rate). When the
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uploaded video covers a **mid-flight slice** (e.g., 20–25 min into a
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30 min flight), takeoff detection lands at t=0 and the resulting offset
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is garbage. The replay coordinator then streams the entire tlog
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start-to-end, wasting I/O on the leading minutes and computing
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estimates against stale tlog samples.
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The user's pipeline framing: "tlog is usually bigger than video, and
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usually the last chunk in tlog is relevant" — the system must locate
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the video's window within the tlog and trim accordingly.
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## Outcome
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- A new `find_aligned_window(tlog_path, video_path, config) -> AlignedWindow`
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returns `(tlog_start_ns, tlog_end_ns, offset_ms, confidence)`.
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- `TlogReplayFcAdapter.open()` honors `tlog_start_ns` — seeks past
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pre-window messages so downstream only sees the relevant slice.
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- `gps-denied-replay --auto-trim` is the default for uploads that don't
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pass `--time-offset-ms` or `--skip-auto-sync`.
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- Existing takeoff-aligned Derkachi clip continues to pass AC-9 (no
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regression on AZ-405).
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## Scope
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### Included
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- New `find_aligned_window` algorithm — cross-correlation of:
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- IMU energy stream (10 Hz subsampled `|a| − 1g` from `RAW_IMU`/`SCALED_IMU2`)
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- Video optical-flow magnitude (existing `_compute_flow_magnitudes`)
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- New `AlignedWindow` DTO under `replay_input/interface.py`.
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- `TlogReplayFcAdapter._timestamp_filter(tlog_start_ns)` seek logic.
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- `gps-denied-replay --auto-trim` CLI flag wiring.
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- Tests: takeoff-aligned regression + synthetic mid-flight scenario.
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### Excluded
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- Real-flight validation runner — AZ-699 (T3).
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- Map visualization — AZ-700 (T4).
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- HTTP API — AZ-701 (T5).
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- Camera calibration — AZ-702 (T6).
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## Acceptance Criteria
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**AC-1: Backward-compat on takeoff-aligned clip**
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Given the existing Derkachi 60 s clip with synthesized tlog
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When `find_aligned_window` runs
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Then it returns `offset_ms` within ± 50 ms of the current `auto_sync.compute_offset` result
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**AC-2: Mid-flight alignment**
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Given a synthetic scenario: tlog covering 0–300 s, video covering 100–110 s with motion onset at tlog t=105 s
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When `find_aligned_window` runs
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Then `tlog_start_ns ≈ 100 s`, `tlog_end_ns ≈ 110 s`, `offset_ms` places video t=0 at tlog t=100 s
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**AC-3: Tlog trim honored by replay adapter**
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Given `TlogReplayFcAdapter` opened with `tlog_start_ns = 100 s`
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When messages flow
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Then only messages with `_timestamp ≥ 100 s` reach subscribers
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**AC-4: AC-9 frame-window validator passes for both scenarios**
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Given the resolved offset from AC-1 or AC-2
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When the AC-9 validator runs on the aligned window
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Then it returns 0 (≥ 95 % match)
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**AC-5: End-to-end CLI smoke**
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Given `gps-denied-replay --auto-trim --video derkachi.mp4 --tlog derkachi.tlog`
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When the run completes
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Then exit code is 0 and the output JSONL is non-empty
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## Non-Functional Requirements
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**Performance**
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- Alignment over a 30-min tlog completes in < 30 s on Tier-1 hardware (10 Hz subsampled IMU stream).
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**Reliability**
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- Low confidence (< `low_confidence_threshold`) falls back to head-takeoff detection (existing behavior).
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## Unit Tests
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| AC Ref | What to Test | Required Outcome |
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|--------|-------------|-----------------|
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| AC-1 | Takeoff-aligned offset match | Within ± 50 ms of compute_offset |
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| AC-2 | Mid-flight window discovery | Correct (start_ns, end_ns) |
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| AC-3 | Adapter seek skips pre-window | First emitted ts ≥ tlog_start_ns |
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| AC-4 | Validator on aligned scenarios | Returns 0 |
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## Blackbox Tests
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| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
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|--------|------------------------|-------------|-------------------|----------------|
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| AC-5 | Real derkachi inputs + --auto-trim | Full replay CLI run | Clean exit 0 + non-empty JSONL | — |
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## Constraints
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- Reuse the existing `_find_sustained_event` window-scan utility — no new generic algorithms.
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- IMU subsampling MUST be deterministic (AC-10 across the rest of the replay path).
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- `tlog_start_ns` seek MUST not break the existing AZ-611 `--skip-auto-sync` path.
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## Risks & Mitigation
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**Risk 1: False maxima during steady cruise**
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- *Risk*: Cross-correlation of steady-state cruise IMU + uniform video flow can have multiple equal-height peaks.
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- *Mitigation*: Report `combined_confidence`; below threshold falls back to head-takeoff or explicit offset.
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**Risk 2: Performance on long tlogs**
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- *Risk*: Multi-hour tlogs would slow naive correlation.
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- *Mitigation*: Subsample both streams to 10 Hz before FFT-based correlation.
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@@ -0,0 +1,106 @@
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# Real-flight validation runner + accuracy report
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**Task**: AZ-699_real_flight_validation_runner
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**Name**: Run estimator against real Derkachi tlog + video; compute honest accuracy metrics; write report
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**Description**: New e2e test `test_derkachi_real_tlog.py` that feeds the real `derkachi.tlog` (not the synth) into the replay pipeline, compares the JSONL output against the binary-tlog GPS truth (from AZ-697), and writes a structured Markdown accuracy report. Flips AC-3 from `@xfail` to a real PASS/FAIL verdict.
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**Complexity**: 3 points
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**Dependencies**: AZ-697
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**Component**: Blackbox Tests (epic AZ-696)
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**Tracker**: AZ-699
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**Epic**: AZ-696
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## Problem
|
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|
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`tests/e2e/replay/test_derkachi_1min.py::test_ac3_within_100m_80pct_of_ticks`
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is permanently `@xfail`. Even when the test runs (Jetson Tier-2), the
|
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result is hidden — we have no honest measurement of estimator accuracy
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against a real flight. The cycle-1 retrospective (`_docs/06_metrics/retro_2026-05-20.md`)
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flagged this as the highest-impact open verification.
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The two contributors:
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||||||
|
1. Synth tlog (compares estimator to itself) — fixed by AZ-697.
|
||||||
|
2. Unknown camera intrinsics — addressed by AZ-702 (T6, factory sheet).
|
||||||
|
|
||||||
|
This task wires the real tlog + the calibration into a new test and
|
||||||
|
produces the honest verdict + a structured report.
|
||||||
|
|
||||||
|
## Outcome
|
||||||
|
|
||||||
|
- A new test runs the full `gps-denied-replay` against `derkachi.tlog` +
|
||||||
|
`flight_derkachi.mp4` + `khp20s30_factory.json` (or the current
|
||||||
|
fallback) and reports honest accuracy metrics.
|
||||||
|
- A structured report at `_docs/06_metrics/real_flight_validation_{YYYY-MM-DD}.md`
|
||||||
|
contains mean / p50 / p95 / p99 horizontal error, % within {10, 25, 50, 100} m,
|
||||||
|
vertical error stats, and notes the calibration assumption.
|
||||||
|
- AC-3 emits a real PASS or honest FAIL verdict (no `@xfail` mask).
|
||||||
|
|
||||||
|
## Scope
|
||||||
|
|
||||||
|
### Included
|
||||||
|
- New test `tests/e2e/replay/test_derkachi_real_tlog.py` parallel to the existing 1-min test but using the binary tlog.
|
||||||
|
- Metric helpers (mean/p50/p95/p99 percentile + threshold-hit counters) live in `src/gps_denied_onboard/helpers/gps_compare.py` (extends AZ-697).
|
||||||
|
- Report writer `tests/e2e/replay/_report_writer.py` (test helper, not production code).
|
||||||
|
- Updated `_docs/06_metrics/real_flight_validation_{date}.md` artifact format documented in `_docs/02_document/tests/blackbox-tests.md`.
|
||||||
|
|
||||||
|
### Excluded
|
||||||
|
- Map visualization — AZ-700.
|
||||||
|
- HTTP API — AZ-701.
|
||||||
|
- Camera calibration acquisition — AZ-702 (this task ships with whatever calibration is current).
|
||||||
|
- Editing the existing `test_derkachi_1min.py` (new test runs alongside).
|
||||||
|
|
||||||
|
## Acceptance Criteria
|
||||||
|
|
||||||
|
**AC-1: Real PASS/FAIL verdict (no mask)**
|
||||||
|
Given the new test on Tier-2 Jetson
|
||||||
|
When `pytest tests/e2e/replay/test_derkachi_real_tlog.py -m tier2` runs
|
||||||
|
Then the result is PASS or FAIL — no `@xfail`, no `@skip`
|
||||||
|
|
||||||
|
**AC-2: Structured report written**
|
||||||
|
Given a successful invocation
|
||||||
|
When the test finishes
|
||||||
|
Then `_docs/06_metrics/real_flight_validation_{YYYY-MM-DD}.md` exists with all required metrics in a Markdown table
|
||||||
|
|
||||||
|
**AC-3: FAIL message attributes calibration uncertainty**
|
||||||
|
Given the test fails the 80 %/100 m gate
|
||||||
|
When the failure message renders
|
||||||
|
Then it references the calibration acquisition method (factory-sheet per AZ-702) and the residual budget
|
||||||
|
|
||||||
|
**AC-4: Existing 1-min test untouched**
|
||||||
|
Given the cycle-1 test `test_ac3_within_100m_80pct_of_ticks`
|
||||||
|
When all changes land
|
||||||
|
Then the existing `@xfail` test still exists and runs (we add, don't replace)
|
||||||
|
|
||||||
|
## Non-Functional Requirements
|
||||||
|
|
||||||
|
**Performance**
|
||||||
|
- The new test must complete within the existing Jetson Tier-2 wall budget (≤ 15 min for a 60 s clip; report longer for longer clips).
|
||||||
|
|
||||||
|
## Unit Tests
|
||||||
|
|
||||||
|
| AC Ref | What to Test | Required Outcome |
|
||||||
|
|--------|-------------|-----------------|
|
||||||
|
| AC-2 | Report writer with mock metrics | Markdown contains every required row |
|
||||||
|
| AC-3 | Failure message templating | Contains "calibration: factory-sheet" + budget |
|
||||||
|
|
||||||
|
## Blackbox Tests
|
||||||
|
|
||||||
|
| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
|
||||||
|
|--------|------------------------|-------------|-------------------|----------------|
|
||||||
|
| AC-1 | Real derkachi.tlog + video + KHP20S30 calibration | Full replay + accuracy gate | PASS or FAIL (honest) | Perf ≤ 15 min |
|
||||||
|
| AC-2 | After AC-1 run | Report file existence + contents | Structured report on disk | — |
|
||||||
|
|
||||||
|
## Constraints
|
||||||
|
|
||||||
|
- The new test MUST use the existing `gps-denied-replay` console-script — no inlined estimator invocation.
|
||||||
|
- The report MUST be Markdown (not HTML/JSON) so it lives alongside other `_docs/06_metrics/` artifacts.
|
||||||
|
- Skipping in CI when `RUN_REPLAY_E2E=0` is allowed (matches existing pattern); the test MUST run when the env var is set.
|
||||||
|
|
||||||
|
## Risks & Mitigation
|
||||||
|
|
||||||
|
**Risk 1: Honest FAIL exposes a true product gap**
|
||||||
|
- *Risk*: The estimator may legitimately fail the 100 m/80 % gate even with correct calibration. Derkachi is cruise altitude with limited VPR anchor diversity.
|
||||||
|
- *Mitigation*: That's the goal — honest measurement. Surface the gap; downstream cycles can tighten.
|
||||||
|
|
||||||
|
**Risk 2: tlog format edge cases**
|
||||||
|
- *Risk*: Real tlogs may carry non-standard system IDs, dialect mismatches, or corrupt segments.
|
||||||
|
- *Mitigation*: AZ-697's AC-3 / AC-4 cover this at the truth-extractor level; this task only consumes the result.
|
||||||
@@ -0,0 +1,108 @@
|
|||||||
|
# Replay map visualization (estimated vs ground-truth tracks)
|
||||||
|
|
||||||
|
**Task**: AZ-700_replay_map_visualization
|
||||||
|
**Name**: HTML map showing estimated GPS track vs tlog ground-truth track
|
||||||
|
**Description**: New `gps-denied-render-map` console script. Takes a JSONL of estimator output + a tlog (or CSV fallback) and renders a single-file HTML map (folium / Leaflet) with both tracks in distinct colors, start/end markers, and an embedded accuracy summary from AZ-699.
|
||||||
|
**Complexity**: 3 points
|
||||||
|
**Dependencies**: AZ-699
|
||||||
|
**Component**: cli (offline analysis surface)
|
||||||
|
**Tracker**: AZ-700
|
||||||
|
**Epic**: AZ-696
|
||||||
|
|
||||||
|
## Problem
|
||||||
|
|
||||||
|
Today the only feedback from a replay run is a JSONL file. There is no
|
||||||
|
way to visually verify whether the estimator is drifting, jumping, or
|
||||||
|
roughly tracking the real flight. A human reading the JSONL cannot
|
||||||
|
quickly answer "does this make sense geographically?"
|
||||||
|
|
||||||
|
The user's pipeline explicitly calls for: "and then show both points on
|
||||||
|
the map."
|
||||||
|
|
||||||
|
## Outcome
|
||||||
|
|
||||||
|
- A standalone CLI `gps-denied-render-map` produces a self-contained
|
||||||
|
HTML map of the estimated track + the tlog ground-truth track for any
|
||||||
|
prior replay run.
|
||||||
|
- The map is shareable as a single file (no server required); developers
|
||||||
|
open it locally; AZ-701's HTTP API serves it back to API consumers.
|
||||||
|
|
||||||
|
## Scope
|
||||||
|
|
||||||
|
### Included
|
||||||
|
- New module `src/gps_denied_onboard/cli/render_map.py`.
|
||||||
|
- New console script `gps-denied-render-map` in `pyproject.toml`.
|
||||||
|
- folium dependency pin in the appropriate `[project.optional-dependencies]` group (NOT in airborne-binary deps — operator-side only).
|
||||||
|
- Default map style + tile provider (OpenStreetMap fallback documented for offline use).
|
||||||
|
- Auto-fit bounds; distance circles (100 m, 50 m) around start point for scale.
|
||||||
|
- Accuracy summary banner (read from `_docs/06_metrics/real_flight_validation_{date}.md` when `--summary` is passed).
|
||||||
|
|
||||||
|
### Excluded
|
||||||
|
- Interactive time-slider playback (deferred follow-up).
|
||||||
|
- Embedded altitude profile chart.
|
||||||
|
- Animated marker traversal.
|
||||||
|
|
||||||
|
## Acceptance Criteria
|
||||||
|
|
||||||
|
**AC-1: CLI produces self-contained HTML**
|
||||||
|
Given a JSONL + tlog
|
||||||
|
When `gps-denied-render-map --estimated out.jsonl --truth derkachi.tlog --output map.html` runs
|
||||||
|
Then `map.html` exists, parses as valid HTML, exits 0
|
||||||
|
|
||||||
|
**AC-2: Two distinct tracks visible**
|
||||||
|
Given the rendered map opened in a browser
|
||||||
|
When inspected
|
||||||
|
Then it contains exactly two polyline layers (red = truth, blue = estimated) with start/end markers
|
||||||
|
|
||||||
|
**AC-3: Markers + scale circles**
|
||||||
|
Given the rendered map
|
||||||
|
When parsed
|
||||||
|
Then it contains the start (green) + end (black) markers + 100 m + 50 m scale circles
|
||||||
|
|
||||||
|
**AC-4: Accuracy summary inclusion**
|
||||||
|
Given `--summary _docs/06_metrics/real_flight_validation_2026-XX-XX.md`
|
||||||
|
When the map renders
|
||||||
|
Then the HTML header contains the accuracy metrics table
|
||||||
|
|
||||||
|
**AC-5: Offline fallback documented**
|
||||||
|
Given an environment without internet access
|
||||||
|
When the map is rendered with `--offline-tiles`
|
||||||
|
Then tile loading uses a documented fallback (or fails fast with a clear error if no fallback is configured)
|
||||||
|
|
||||||
|
## Non-Functional Requirements
|
||||||
|
|
||||||
|
**Compatibility**
|
||||||
|
- Output HTML must render in Chrome 110+ and Firefox 110+ without console errors.
|
||||||
|
|
||||||
|
**Performance**
|
||||||
|
- For a 60 s flight (~600 truth points + ~600 estimated points), render time < 5 s on Tier-1 hardware.
|
||||||
|
|
||||||
|
## Unit Tests
|
||||||
|
|
||||||
|
| AC Ref | What to Test | Required Outcome |
|
||||||
|
|--------|-------------|-----------------|
|
||||||
|
| AC-1 | CLI invocation with synthetic data | Output HTML file exists + non-empty |
|
||||||
|
| AC-2 | Parse output HTML | Exactly 2 polyline layers + 4 expected markers |
|
||||||
|
| AC-4 | Summary embed | Markdown summary metrics present in HTML |
|
||||||
|
|
||||||
|
## Blackbox Tests
|
||||||
|
|
||||||
|
| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
|
||||||
|
|--------|------------------------|-------------|-------------------|----------------|
|
||||||
|
| AC-1 | Real Derkachi replay JSONL + tlog | End-to-end render | HTML opens in browser, both tracks visible | Compat |
|
||||||
|
|
||||||
|
## Constraints
|
||||||
|
|
||||||
|
- folium MUST be in the operator-only dep group; airborne binary cold-start regression test must remain green.
|
||||||
|
- HTML output MUST be self-contained — embedded JS/CSS, no per-page CDN calls in `--offline-tiles` mode.
|
||||||
|
- Console script naming follows the project pattern (`gps-denied-<verb>`).
|
||||||
|
|
||||||
|
## Risks & Mitigation
|
||||||
|
|
||||||
|
**Risk 1: folium dep size**
|
||||||
|
- *Risk*: folium pulls ~5 MB of JS. Adding to airborne deps would regress cold-start.
|
||||||
|
- *Mitigation*: optional-dependencies group + ADR-002 build-time exclusion principle.
|
||||||
|
|
||||||
|
**Risk 2: CDN dependency at render time**
|
||||||
|
- *Risk*: Default folium uses Leaflet via CDN — fails on offline Jetsons.
|
||||||
|
- *Mitigation*: Document `--offline-tiles` flag; provide bundled assets path or fail-fast.
|
||||||
@@ -0,0 +1,161 @@
|
|||||||
|
# HTTP Replay API service
|
||||||
|
|
||||||
|
**Task**: AZ-701_http_replay_api_service
|
||||||
|
**Name**: HTTP API for offline replay (POST tlog+video, return GPS fixes + map URL)
|
||||||
|
**Description**: New `replay_api` component (FastAPI) wrapping the offline replay pipeline. One primary endpoint `POST /replay` accepts multipart `(tlog + video [+ calibration])` and returns either a synchronous JSONL+summary or an async job id. Returns links to the map artifact rendered by AZ-700.
|
||||||
|
**Complexity**: 5 points
|
||||||
|
**Dependencies**: AZ-699, AZ-700
|
||||||
|
**Component**: replay_api (new component)
|
||||||
|
**Tracker**: AZ-701
|
||||||
|
**Epic**: AZ-696
|
||||||
|
|
||||||
|
## Problem
|
||||||
|
|
||||||
|
The product today has zero HTTP surface. The only ways to invoke the
|
||||||
|
estimator on a recorded flight are:
|
||||||
|
1. The airborne binary (real-time MAVLink GPS_INPUT — needs the
|
||||||
|
aircraft + FC).
|
||||||
|
2. `gps-denied-replay` CLI (operator workstation, Python install
|
||||||
|
required).
|
||||||
|
3. `operator-orchestrator` CLI (Click, pre-flight cache only — does
|
||||||
|
NOT run the estimator).
|
||||||
|
|
||||||
|
External consumers (operator tools, suite web UIs, demo dashboards,
|
||||||
|
other suite services) cannot validate flights without installing the
|
||||||
|
full Python stack. The user's pipeline framing explicitly calls for
|
||||||
|
"part of the api — tlog and video uploading. and emits gps fixes back
|
||||||
|
to the user."
|
||||||
|
|
||||||
|
## Outcome
|
||||||
|
|
||||||
|
- A new HTTP service exposes `POST /replay` and the supporting `GET /jobs/{id}*` polling endpoints.
|
||||||
|
- The service wraps `gps-denied-replay` and AZ-700's map renderer behind a single multipart upload.
|
||||||
|
- Containerized; runs in `docker-compose.test.yml`; OpenAPI spec is committed.
|
||||||
|
- Authentication via bearer token, gated explicitly off in dev mode (logs WARN).
|
||||||
|
|
||||||
|
## Scope
|
||||||
|
|
||||||
|
### Included
|
||||||
|
- New component `src/gps_denied_onboard/replay_api/`:
|
||||||
|
- `app.py` (FastAPI instance)
|
||||||
|
- `handlers.py` (multipart upload, validation)
|
||||||
|
- `jobs.py` (sync ≤ 2 min videos / async > 2 min)
|
||||||
|
- `storage.py` (temp file lifecycle, cleanup)
|
||||||
|
- `interface.py` (`ReplayRunner` Protocol so handlers are decoupled)
|
||||||
|
- `errors.py` (custom HTTP error families)
|
||||||
|
- Endpoints: `POST /replay`, `GET /jobs/{id}`, `GET /jobs/{id}/result`, `GET /jobs/{id}/map`, `GET /healthz`, `GET /readyz`.
|
||||||
|
- Bearer-token auth: `REPLAY_API_BEARER_TOKEN` env var; explicit dev opt-out via `REPLAY_API_AUTH_REQUIRED=false`.
|
||||||
|
- Upload size limit + concurrent-job limit, env-configurable.
|
||||||
|
- New `replay-api` console script (uvicorn entrypoint) in `pyproject.toml`.
|
||||||
|
- New `docker/replay-api.Dockerfile` + `docker-compose.test.yml` entry.
|
||||||
|
- OpenAPI spec exported to `_docs/02_document/contracts/replay_api/openapi.yaml`.
|
||||||
|
- Contract file `_docs/02_document/contracts/replay_api/replay_api_protocol.md` (per shared/api decompose Step 4.5 rule).
|
||||||
|
- File-upload magic-byte validation for `.tlog` + `.mp4`.
|
||||||
|
|
||||||
|
### Excluded
|
||||||
|
- Web UI (parent-suite concern).
|
||||||
|
- Persistent job database (in-memory + temp disk is sufficient for v1).
|
||||||
|
- Multi-node job distribution.
|
||||||
|
- WebSocket streaming of progress.
|
||||||
|
|
||||||
|
## Acceptance Criteria
|
||||||
|
|
||||||
|
**AC-1: Sync happy path (short video, dev mode)**
|
||||||
|
Given `REPLAY_API_AUTH_REQUIRED=false` and a 60 s video
|
||||||
|
When `POST /replay` runs with multipart `tlog + video`
|
||||||
|
Then response is 200 with JSONL of GPS fixes + accuracy summary inline
|
||||||
|
|
||||||
|
**AC-2: Async happy path (long video)**
|
||||||
|
Given a > 2-minute video
|
||||||
|
When `POST /replay` runs
|
||||||
|
Then response is 202 with `Location: /jobs/{id}` and `{job_id, status_url}`
|
||||||
|
|
||||||
|
**AC-3: Job state transitions**
|
||||||
|
Given an async job
|
||||||
|
When polled via `GET /jobs/{id}`
|
||||||
|
Then state transitions `queued → running → done` are observable
|
||||||
|
|
||||||
|
**AC-4: Result + map served from job id**
|
||||||
|
Given a `done` job
|
||||||
|
When `GET /jobs/{id}/result` is called
|
||||||
|
Then it streams the JSONL; `GET /jobs/{id}/map` returns the HTML map (from AZ-700)
|
||||||
|
|
||||||
|
**AC-5: Auth enforced when configured**
|
||||||
|
Given `REPLAY_API_BEARER_TOKEN=secret`
|
||||||
|
When `POST /replay` runs without `Authorization: Bearer secret`
|
||||||
|
Then response is 401
|
||||||
|
|
||||||
|
**AC-6: Health endpoints**
|
||||||
|
Given the service is up and `gps-denied-replay` console-script is on PATH
|
||||||
|
When `GET /healthz` and `GET /readyz` are called
|
||||||
|
Then both return 200
|
||||||
|
|
||||||
|
**AC-7: OpenAPI + contract documented**
|
||||||
|
Given the service is running
|
||||||
|
When the OpenAPI spec is exported
|
||||||
|
Then `_docs/02_document/contracts/replay_api/openapi.yaml` is committed; `replay_api_protocol.md` documents the versioning rules
|
||||||
|
|
||||||
|
**AC-8: Concurrency limit enforced**
|
||||||
|
Given `REPLAY_API_MAX_CONCURRENT_JOBS=1`
|
||||||
|
When 3 jobs are submitted in quick succession
|
||||||
|
Then exactly 1 is `running`; 2 are `queued`
|
||||||
|
|
||||||
|
**AC-9: Magic-byte upload validation**
|
||||||
|
Given a `POST /replay` with a misnamed `.tlog` (actually a `.zip`)
|
||||||
|
When the handler validates
|
||||||
|
Then response is 400 with a clear error
|
||||||
|
|
||||||
|
## Non-Functional Requirements
|
||||||
|
|
||||||
|
**Performance**
|
||||||
|
- For a 60 s Derkachi video, sync `POST /replay` returns within `gps-denied-replay` ASAP-mode wall + 5 s overhead on Tier-2 Jetson.
|
||||||
|
|
||||||
|
**Security**
|
||||||
|
- Magic-byte file validation; reject anything not matching `.tlog` (MAVLink magic 0xFD/0xFE) or `.mp4` (ftyp).
|
||||||
|
- Bearer auth always available; default-OFF only with explicit env var.
|
||||||
|
|
||||||
|
**Compatibility**
|
||||||
|
- FastAPI / uvicorn / python-multipart pinned; document version compatibility window.
|
||||||
|
|
||||||
|
## Unit Tests
|
||||||
|
|
||||||
|
| AC Ref | What to Test | Required Outcome |
|
||||||
|
|--------|-------------|-----------------|
|
||||||
|
| AC-1 | Sync POST → 200 + JSONL | Round-trip succeeds with synth fixtures |
|
||||||
|
| AC-2 | Async POST → 202 + job id | 202 with Location header |
|
||||||
|
| AC-3 | Job state machine | Transitions observed |
|
||||||
|
| AC-5 | Missing/wrong bearer → 401 | Strict failure |
|
||||||
|
| AC-8 | Concurrency limit | 2 of 3 queued |
|
||||||
|
| AC-9 | Wrong magic bytes → 400 | Clear error |
|
||||||
|
|
||||||
|
## Blackbox Tests
|
||||||
|
|
||||||
|
| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
|
||||||
|
|--------|------------------------|-------------|-------------------|----------------|
|
||||||
|
| AC-1, AC-4 | Real derkachi.tlog + video | `curl` round-trip in docker-compose | 200 + JSONL + map HTML | Perf |
|
||||||
|
| AC-6 | Container up | Health endpoint checks | 200 OK | — |
|
||||||
|
|
||||||
|
## Constraints
|
||||||
|
|
||||||
|
- FastAPI MUST live in an operator-only build target; ADR-002 binary-exclusion applies. Airborne binary cold-start regression test must remain green.
|
||||||
|
- New component MUST follow interface-first + constructor-injection (Principle #13 in architecture.md).
|
||||||
|
- Contract file MUST exist before the endpoint is callable in CI (per decompose Step 4.5 rule).
|
||||||
|
|
||||||
|
## Risks & Mitigation
|
||||||
|
|
||||||
|
**Risk 1: FastAPI / uvicorn dep weight on airborne binary**
|
||||||
|
- *Risk*: Adding the API dep to the airborne binary regresses cold-start.
|
||||||
|
- *Mitigation*: Place `replay_api/` in an operator-only optional-dependencies group; CMake / build-time exclusion enforces.
|
||||||
|
|
||||||
|
**Risk 2: HTTP timeout on long videos**
|
||||||
|
- *Risk*: Sync mode + a long video → HTTP timeout.
|
||||||
|
- *Mitigation*: Async mode triggers automatically above the configured video-length threshold.
|
||||||
|
|
||||||
|
**Risk 3: File-upload abuse**
|
||||||
|
- *Risk*: Malicious uploads (huge files, zip bombs, fake MIME types).
|
||||||
|
- *Mitigation*: Hard size limit (2 GB default), magic-byte validation, temp-file cleanup, configurable disk quota.
|
||||||
|
|
||||||
|
## Contract
|
||||||
|
|
||||||
|
This task produces the contract at `_docs/02_document/contracts/replay_api/replay_api_protocol.md`.
|
||||||
|
Consumers MUST read that file — not this task spec — to discover the interface and versioning rules.
|
||||||
@@ -0,0 +1,106 @@
|
|||||||
|
# Topotek KHP20S30 camera calibration (factory-sheet approximation)
|
||||||
|
|
||||||
|
**Task**: AZ-702_khp20s30_calibration
|
||||||
|
**Name**: Provide a calibration JSON for the Topotek KHP20S30 nadir camera (factory-sheet approximation)
|
||||||
|
**Description**: Compute and commit a `CameraCalibrationArtifact` JSON for the Derkachi camera (Topotek KHP20S30) from manufacturer factory data. Replaces the `adti26.json` placeholder that AC-3 currently uses. Documents the residual error vs a per-unit checkerboard refinement.
|
||||||
|
**Complexity**: 1 point
|
||||||
|
**Dependencies**: None
|
||||||
|
**Component**: input_data / shared_helpers
|
||||||
|
**Tracker**: AZ-702
|
||||||
|
**Epic**: AZ-696
|
||||||
|
|
||||||
|
## Problem
|
||||||
|
|
||||||
|
`_docs/00_problem/input_data/flight_derkachi/camera_info.md` states the
|
||||||
|
Topotek KHP20S30 intrinsics are unknown. `tests/e2e/replay/conftest.py`
|
||||||
|
(line 50–56) substitutes `tests/fixtures/calibration/adti26.json` as a
|
||||||
|
placeholder. AC-3 (≤ 100 m horizontal error for 80 % of ticks) is
|
||||||
|
`@xfail` until a real calibration ships.
|
||||||
|
|
||||||
|
The cheapest reasonable starting point is a factory-sheet approximation
|
||||||
|
— compute `K` from the manufacturer's published focal length + sensor
|
||||||
|
geometry, accept the 1–3 % focal-length residual as a documented
|
||||||
|
budget, and let AC-3 either PASS or honestly FAIL with the residual
|
||||||
|
attributed.
|
||||||
|
|
||||||
|
## Outcome
|
||||||
|
|
||||||
|
- A calibration JSON `khp20s30_factory.json` exists in the Derkachi
|
||||||
|
input directory, parses against the project's
|
||||||
|
`CameraCalibrationArtifact` schema, and documents the acquisition
|
||||||
|
method as `factory_sheet`.
|
||||||
|
- `camera_info.md` is updated to reference the new calibration + the
|
||||||
|
residual budget + the deferral handle (`AZ-XXX_checkerboard_refinement`).
|
||||||
|
- AZ-699 (T3) uses this calibration as its `--camera-calibration` input.
|
||||||
|
|
||||||
|
## Scope
|
||||||
|
|
||||||
|
### Included
|
||||||
|
- Source manufacturer factory data for the Topotek KHP20S30 (sensor: 1/2.8" CMOS, 2.13 MP, 1920×1080; lens focal length, FOV, pixel pitch).
|
||||||
|
- Compute `K = [[fx, 0, cx], [0, fy, cy], [0, 0, 1]]` from `fx = fy = focal_length_mm × (image_width_px / sensor_width_mm)`.
|
||||||
|
- Set distortion to `[0, 0, 0, 0, 0]` (factory-sheet approximation).
|
||||||
|
- Set `body_to_camera_se3` to identity-down (nadir; camera-z = aircraft-down).
|
||||||
|
- Set `acquisition_method = "factory_sheet"`.
|
||||||
|
- Write `_docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json`.
|
||||||
|
- Update `_docs/00_problem/input_data/flight_derkachi/camera_info.md`.
|
||||||
|
- New unit test under `tests/unit/calibration/` asserting the JSON parses and matches the documented inputs.
|
||||||
|
|
||||||
|
### Excluded
|
||||||
|
- Physical checkerboard calibration (needs hardware).
|
||||||
|
- PnP-from-tlog back-computation (deferred follow-up).
|
||||||
|
- Updating `adti26.json` or other test fixtures.
|
||||||
|
|
||||||
|
## Acceptance Criteria
|
||||||
|
|
||||||
|
**AC-1: Calibration JSON parses**
|
||||||
|
Given the new `khp20s30_factory.json`
|
||||||
|
When loaded by the project's calibration parser (same schema as `adti26.json`)
|
||||||
|
Then it parses without error and all fields are populated
|
||||||
|
|
||||||
|
**AC-2: Doc updated**
|
||||||
|
Given `camera_info.md` before
|
||||||
|
When the calibration is committed
|
||||||
|
Then `camera_info.md` says "factory-sheet approximation; per-unit checkerboard refinement deferred — see <future-task>" and lists the residual budget
|
||||||
|
|
||||||
|
**AC-3: Unit test snapshot**
|
||||||
|
Given the new JSON
|
||||||
|
When the unit test runs
|
||||||
|
Then it asserts `fx == fy` (square pixels), `cx ≈ width/2`, `cy ≈ height/2`, distortion all zero
|
||||||
|
|
||||||
|
**AC-4: T3 consumes this calibration**
|
||||||
|
Given AZ-699's `test_derkachi_real_tlog.py`
|
||||||
|
When it runs
|
||||||
|
Then it loads `khp20s30_factory.json` as `--camera-calibration` (no longer the `adti26.json` placeholder)
|
||||||
|
|
||||||
|
## Non-Functional Requirements
|
||||||
|
|
||||||
|
**Compatibility**
|
||||||
|
- JSON schema MUST be identical to existing calibration fixtures (`adti26.json`) — no schema changes in this task.
|
||||||
|
|
||||||
|
## Unit Tests
|
||||||
|
|
||||||
|
| AC Ref | What to Test | Required Outcome |
|
||||||
|
|--------|-------------|-----------------|
|
||||||
|
| AC-1 | JSON loads via existing parser | Object populated |
|
||||||
|
| AC-3 | Field values match factory inputs | fx == fy, cx/cy at centre, zero distortion |
|
||||||
|
|
||||||
|
## Blackbox Tests
|
||||||
|
|
||||||
|
| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
|
||||||
|
|--------|------------------------|-------------|-------------------|----------------|
|
||||||
|
| AC-4 | T3 test pointed at new JSON | T3 launches without calibration parse error | Test starts cleanly | Compat |
|
||||||
|
|
||||||
|
## Constraints
|
||||||
|
|
||||||
|
- MUST follow the calibration contract in `_docs/02_document/contracts/shared_helpers/descriptor_normaliser.md` (or wherever the camera-calibration schema lives).
|
||||||
|
- MUST be a single committed JSON — no generator script with side effects.
|
||||||
|
|
||||||
|
## Risks & Mitigation
|
||||||
|
|
||||||
|
**Risk 1: Factory data unavailable at required precision**
|
||||||
|
- *Risk*: Topotek does not publish the exact focal length / sensor width to the precision needed.
|
||||||
|
- *Mitigation*: Document the gap; ship with the best-available estimate; flag in `camera_info.md` so T3 surfaces the uncertainty in its failure message.
|
||||||
|
|
||||||
|
**Risk 2: Residual error exceeds AC-3 budget**
|
||||||
|
- *Risk*: 1–3 % focal-length error may push horizontal error past 100 m at 1 km AGL.
|
||||||
|
- *Mitigation*: That's the honest finding. T3 reports it. A follow-up task can pursue checkerboard refinement if needed.
|
||||||
@@ -2,13 +2,13 @@
|
|||||||
|
|
||||||
## Current Step
|
## Current Step
|
||||||
flow: existing-code
|
flow: existing-code
|
||||||
step: 9
|
step: 10
|
||||||
name: New Task
|
name: Implement
|
||||||
status: not_started
|
status: in_progress
|
||||||
sub_step:
|
sub_step:
|
||||||
phase: 0
|
phase: 0
|
||||||
name: awaiting-invocation
|
name: awaiting-invocation
|
||||||
detail: ""
|
detail: "epic AZ-696 — 6 PBIs AZ-697..AZ-702 in todo/; impl order: T1+T6 → T2 → T3 → T4 → T5"
|
||||||
retry_count: 0
|
retry_count: 0
|
||||||
cycle: 2
|
cycle: 2
|
||||||
tracker: jira
|
tracker: jira
|
||||||
|
|||||||
@@ -1,12 +1,11 @@
|
|||||||
# D-CROSS-CVE-1 opencv-python pin deferred — gtsam/numpy ABI block
|
# D-CROSS-CVE-1 opencv-python pin deferred — gtsam/numpy ABI block
|
||||||
|
|
||||||
**Recorded**: 2026-05-11T02:55+03:00 (Europe/Kyiv)
|
**Recorded**: 2026-05-11T02:55+03:00 (Europe/Kyiv)
|
||||||
**Last replay attempt**: 2026-05-19T20:04+03:00 (Europe/Kyiv) — replay re-checked
|
**Last replay attempt**: 2026-05-20T13:59+03:00 (Europe/Kyiv) — replay re-checked
|
||||||
at start of next `/autodev` invocation (~55 minutes after prior check at 19:09).
|
at start of next `/autodev` invocation (~17h after prior check at 2026-05-19
|
||||||
PyPI not re-queried this round (debounced — `gtsam` upstream state is highly
|
20:04). PyPI re-queried via `pip index versions gtsam`: only `gtsam 4.2`
|
||||||
unlikely to publish numpy-2 wheels within a <2-hour window of the prior check,
|
is published. Replay condition (numpy>=2 stable wheels) still NOT met.
|
||||||
and the previous check confirmed no movement). Replay condition (numpy>=2
|
Leftover remains open.
|
||||||
stable wheels) still NOT met. Leftover remains open.
|
|
||||||
**Status**: deferred-non-user (replay when upstream gtsam wheels target numpy>=2)
|
**Status**: deferred-non-user (replay when upstream gtsam wheels target numpy>=2)
|
||||||
|
|
||||||
## What is blocked
|
## What is blocked
|
||||||
|
|||||||
Reference in New Issue
Block a user