Freezes the c1_vio Public API per
_docs/02_document/contracts/c1_vio/vio_strategy_protocol.md v1.0.0:
- VioStrategy Protocol (4 methods: process_frame, reset_to_warm_start,
health_snapshot, current_strategy_label) in
components/c1_vio/interface.py.
- DTOs (VioOutput, VioHealth, FeatureQuality, WarmStartPose) + VioState
enum in _types/nav.py — L1 placement so C5 + C13 consume them without
crossing the components.* boundary (AZ-270 AC-6). The new VioOutput
shape (frame_id: str, relative_pose_T: gtsam.Pose3,
pose_covariance_6x6, imu_bias, feature_quality, emitted_at_ns)
replaces the AZ-263 scaffolding in _types/vio.py, which is now
deleted.
- VioError family (VioInitializingError / VioDegradedError /
VioFatalError) in components/c1_vio/errors.py. Documented
rationale: the degraded-operation path returns a VioOutput with
inflated covariance + VioHealth.state=DEGRADED rather than raising
VioDegradedError — the error type exists only for the rare
degraded->fatal transition.
- C1VioConfig per-component config block (strategy enum,
lost_frame_threshold default 9, warm_start_max_frames default 5)
with constructor-time validation rejecting unknown strategy labels.
- StrategyNotAvailableError added to runtime_root/errors.py;
composition-time error distinct from the VioError family.
- Composition-root factory build_vio_strategy in
runtime_root/vio_factory.py with three BUILD_* gates (BUILD_OKVIS2,
BUILD_VINS_MONO, BUILD_KLT_RANSAC). Concrete strategy modules are
imported lazily via __import__ AFTER the flag check — Tier-0
workstation builds with the flag OFF MUST NOT load the strategy
module (Risk-2 / I-5; verifiable via sys.modules).
- 36 conformance tests cover all 9 ACs + NFR-perf-factory
(p99 build under 200 ms x 1000 calls) + NFR-reliability-error-family.
AC-8 introspects the contract file's Shape table and asserts method
parity against the runtime Protocol; AC-9 asserts the frame_id
annotation is 'str' (PEP-563 stringified).
C5 migration (consumers of the new VioOutput shape):
- gtsam_isam2_estimator.py + eskf_baseline.py: replaced
vio.timestamp -> vio.emitted_at_ns (drops _datetime_to_ns on the
VIO path), vio.pose_se3 -> vio.relative_pose_T (gtsam.Pose3 direct;
drops _pose_se3_to_gtsam / _pose_se3_to_array), vio.covariance_6x6
-> vio.pose_covariance_6x6 (rename).
- key_for_frame signature widened to UUID | int | str to accept the
new str frame_id.
- 4 C5 test files migrated to the new VioOutput shape with helper
fixtures producing ImuBias + FeatureQuality + str frame_id.
- c5_state/interface.py TYPE_CHECKING import path updated.
Bootstrap healthcheck + test_types_importable updated to drop the
deleted _types/vio module and pick up _types/inference (AZ-297) in
the same sweep.
Full unit-test sweep: 884 passed, 2 pre-existing environment skips
(cmake, actionlint).
Co-authored-by: Cursor <cursoragent@cursor.com>
F1 (High/Architecture) from cumulative review of batches 01-22:
`ISam2GraphHandleImpl` did not satisfy C4's `ISam2GraphHandle`
Protocol stub (AZ-355) because it lacked `get_pose_key`.
`pose_factory`'s isinstance gate would have raised at composition.
Two Protocols (C4 minimal consumer cut, C5 richer producer surface)
are intentional per AZ-355 Risk 1 — the impl just needed to expose
the canonical name. Delegates to estimator.key_for_frame.
Added cross-component conformance test asserting the C5 impl
satisfies both Protocols, so future drift trips a unit test.
F2 (Medium/Maintainability): added justifying comments at four
`except: pass` sites in runtime_root, c8_fc_adapter (ap + inav),
and c13_fdr writer. No behavioral change.
Updated cumulative review report verdict from FAIL to PASS and
recorded a post-mortem on the initial misframing
(treated the dual-Protocol design as duplication on first read).
Autodev state: batch 22 done, cumulative-review PASS,
ready for batch 23.
Co-authored-by: Cursor <cursoragent@cursor.com>
Add operator warm-start path to C5 StateEstimator Protocol and both
implementations (GtsamIsam2StateEstimator, EskfStateEstimator), plus
the third clause of the AZ-385 spoof-promotion gate.
- StateEstimator Protocol: set_takeoff_origin(origin, sigma_horiz_m,
sigma_vert_m) -> None.
- iSAM2: PriorFactorPose3 at origin with diagonal sigmas, single
isam2.update().
- ESKF: zero _nominal_pos, overwrite _P position block with sigma**2.
- SourceLabelStateMachine.process_gps_sample bounded-delta clause:
WgsConverter.horizontal_distance_m vs smoother estimate; reject
resets the dwell-time counter so AZ-385 cannot re-promote off bad
GPS.
- New EstimatorAlreadyStartedError (StateEstimatorConfigError
subclass) on late call after first add_*.
- C5StateConfig: spoof_promotion_bounded_delta_m=200,
default_takeoff_origin_sigma_horiz_m=5,
default_takeoff_origin_sigma_vert_m=10.
- New GpsSample DTO + WgsConverter.horizontal_distance_m helper.
- 4 new FDR kinds (cold_start_origin.{set,unavailable},
gps_bounded_delta.{accept,reject}) registered in AZ-272 schema.
- 33 new unit tests cover AC-1..AC-15; full repo 750 passed / 2
skipped (pre-existing CI tooling skips).
Docs synced: protocol contract, C5 component description,
architecture, glossary, system-flows, C10 provisioning description.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh