5fe67023b2
[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor
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Implements two new C12 services and rebalances the C11/C12 boundary
in one atomic commit:
* AZ-329 PostLandingUploadOrchestrator — gates C11 upload on the
`flight_footer` FDR record's `clean_shutdown` field; 4 refusal
modes; new FdrFooterReader Protocol + LocalFdrFooterReader.
* AZ-330 OperatorReLocService — AC-3.4 visual-loss re-localization
hint; reuses shared LatLonAlt; OperatorCommandTransport Protocol
cut (E-C8 owns the future pymavlink concrete); new FDR record
kind `c12.reloc.requested`; log redaction (lat/lon 5 decimals,
reason 200 chars).
* AZ-523 C11 internal flight-state gate removed (SRP refactor):
`confirm_flight_state` / `FlightStateSignal` use /
`FlightStateNotOnGroundError` deleted from C11; TileUploader
contract bumped to v2.0.0 (frozen) with migration note; AZ-317
superseded.
* AZ-524 Package rename `c12_operator_tooling` →
`c12_operator_orchestrator` across source, tests, pyproject,
CMake, Dockerfile, compose, CI, runtime-root services class
(`OperatorOrchestratorServices`) + factory function
(`build_operator_orchestrator`), logger namespaces, config slug,
docs, and the E-C12 epic title.
Tests: 1543 passed, 80 skipped (all environment gates). Targeted
AC suite (AZ-329 + AZ-330 + FdrFooterReader): 37 passed. Cold-start
NFR-perf still ≤ 500 ms p99.
Tracker: AZ-317 → Done (superseded); AZ-319 v2.0.0 contract bump
comment; AZ-329/AZ-330 → In Testing; AZ-253 epic renamed; AZ-523
+ AZ-524 created and closed as audit-trail tickets.
See `_docs/03_implementation/batch_44_cycle1_report.md`.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-13 19:42:46 +03:00
65ad2168ed
[AZ-300] Implement PytorchFp16Runtime — C7 simple-baseline strategy
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AZ-300 mandatory simple-baseline InferenceRuntime (eager FP16 PyTorch).
Implements the AZ-297 Protocol; current_runtime_label returns
"pytorch_fp16". Numerical reference every fancier C7 strategy (AZ-298
TRT, AZ-299 ORT) is measured against, and the only viable runtime for
Tier-1 workstation Docker where TRT is non-trivial to install.
Production code (new):
- components/c7_inference/pytorch_fp16_runtime.py — runtime +
PytorchEngineHandle + output-shape adapter
- components/c7_inference/architecture_registry.py — torch-free
register_architecture / default_registry / ArchitectureFactory
(Risk-1 mitigation: no L2->L3 back-edge from C7 into per-backbone
code)
- components/c7_inference/__init__.py — re-exports the registry
mechanism. Still does NOT import the concrete strategy module
(Invariant I-5)
- components/c7_inference/config.py — adds per_frame_debug_log bool
field (gates the DEBUG per-frame latency log)
Tests (new): tests/unit/c7_inference/test_pytorch_fp16_runtime.py
covers AC-1..AC-8 + NFRs. AC-1/2/6/7 + thermal/release/registry
guards run unconditionally (17 tests); AC-3/4/5/8 +
NFR-perf-deserialize + NFR-reliability-eval-mode require CUDA and
skip on Tier-1 CI / macOS dev.
Tests (modified):
- test_protocol_conformance.py — narrowed
test_ac5_build_inference_runtime_flag_on_but_module_missing
parametrisation to exclude pytorch_fp16 (now-built); TRT / ORT
still covered until AZ-298 / AZ-299 ship.
CI: .github/workflows/ci.yml lint + unit jobs now install
'-e .[dev,inference]' because mypy + pytest need torch + torchvision +
onnxruntime on the runner.
Three task-spec -> as-built deltas documented in
_docs/02_tasks/done/AZ-300_c7_pytorch_baseline.md Implementation Notes:
1. Constructor conforms to AZ-297 factory shape (config positional;
thermal_publisher + registry + clock keyword-only optionals).
AZ-302 will update the factory to thread thermal_publisher.
2. Architecture registry uses extras["model_name"] as lookup key
(avoids touching the frozen BuildConfig / EngineCacheEntry DTOs).
3. Warm-up forward deferred to AZ-300 tier-2 follow-up — the zero-arg
registry has no per-backbone input-shape metadata.
Suite: 1120 passed / 10 skipped (CUDA + Tier-2 + cmake / actionlint
environment gates). No regressions in non-c7_inference areas.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-12 10:13:21 +03:00
1ebab29a4f
[AZ-332] C1 OKVIS2 Strategy: facade + binding skeleton
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Python facade (`Okvis2Strategy`) is production-quality and satisfies
AZ-331's `VioStrategy` protocol; full AC-1..10 coverage with
AC-9 + NFR-perf marked `tier2`. The C++ pybind11 binding compiles
and loads but throws `OkvisFatalException("estimator not yet wired")`
on first `add_frame` — the `okvis::ThreadedKFVio` wiring is a tier2
follow-up the Step-15 Product Completeness Gate is expected to track
as a remediation task.
Resolved contradictions:
* Constructor signature aligned with the AZ-331 factory: `(config, *,
fdr_client, clock=None)`. Calibration / preintegrator / logger
built internally from config. No churn on AZ-331.
* IMU substrate: OKVIS2 owns its internal estimator IMU integration;
the AZ-276 `ImuPreintegrator` is a separate substrate consumed by
E-C5's fusion graph. Single source of truth lives at the sample
stream, not the integrator instance.
* FDR API: `FdrClient.enqueue(record)` with new `vio.health` kind
added to AZ-272 `KNOWN_PAYLOAD_KEYS`.
CI matrix forces `-DBUILD_OKVIS2=OFF` until the tier2 wiring task
brings Ceres / SuiteSparse / OKVIS2 vendored submodules into the
Linux build.
Files: 17 added/modified across `c1_vio/`, `fdr_client/records.py`,
`cpp/okvis2/CMakeLists.txt`, CI workflow, AZ-332 task spec
(implementation-notes section), batch 23 report.
Tests: 17 new (15 tier1 + 2 tier2). Full Tier-1 suite: 1109 pass,
2 skipped (env), 2 deselected (tier2). No regressions.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-12 09:56:45 +03:00
b12db61444
[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests
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Implements the AZ-263 / E-BOOT initial structure task:
- Python src/-layout package `gps_denied_onboard/` with per-component
interface stubs (14 components), type-only DTOs under `_types/`,
shared helpers under `helpers/` (R14 LightGlue ownership), structured
JSON logging, runtime composition root with env-var fail-fast gate,
healthcheck module shared by Docker and CI smoke.
- CMake top-level + `cmake/{build_options,dependencies,strategies}.cmake`
with the BUILD_* per-binary flags (ADR-002) and pinned external git
refs for OKVIS2 / VINS-Mono / GTSAM / FAISS / OpenCV >=4.12.0.
- Three Dockerfiles (companion-tier1, operator-tooling,
mock-suite-sat-service) + two compose files (dev + Tier-1 test).
- Four GitHub Actions workflows: ci.yml (lint/unit/integration/dual
binary build/SBOM diff/security), ci-tier2.yml (self-hosted Jetson
AC-bound NFTs), release.yml, cve-rescan.yml.
- Two CI gate scripts: `ci/sbom_diff.py` (deployment SBOM subset +
R02 exclusion), `ci/opencv_pin_gate.py` (>=4.12.0 enforcement,
D-CROSS-CVE-1).
- Alembic-driven Postgres 16 initial migration `0001_initial.py`
mirroring satellite-provider tiles + flights + sector_classifications
+ manifests + engine_cache_entries (data_model.md s 2).
- Tier-1 test scaffolding: 95 passing unit tests covering every AC,
per-component smoke tests, structured logging JSON output check,
env-var gate check, healthcheck import check. Two CI-gated tests
(cmake configure, actionlint) skip locally with explicit reasons.
- Batch report + code review report under `_docs/03_implementation/`.
Verdict: PASS_WITH_WARNINGS (two Low findings, both informational).
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-11 01:00:28 +03:00
8382cdae10
start over again
2026-05-07 04:08:03 +03:00
79997e39ac
[AZ-219] Scaffold onboard runtime project
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Add the initial source, test, infrastructure, CI, configuration, and evidence-path scaffold so dependent implementation tasks have stable package and runtime boundaries.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-03 12:41:54 +03:00
Oleksandr Bezdieniezhnykh