2 Commits

Author	SHA1	Message	Date
Oleksandr Bezdieniezhnykh	007aa36fbf	[AZ-895] Deprecate replay auto-sync surface; file AZ-908 follow-up ... Option A (minimum-deprecation, 2 SP) per user complexity-budget decision. Auto-sync stays importable as a raising stub for one cycle so external callers see a clean ReplayInputAdapterError instead of an ImportError. Full physical removal is filed as AZ-908 (cycle-5+ backlog). Production: - auto_sync.py: 700+ LOC -> 56-line no-op stub raising "auto-sync removed; supply --imu CSV instead" - tlog_video_adapter.py: 700+ LOC -> 105-line deprecated stub; ReplayInputAdapter.open() raises immediately, close() is a no-op - _replay_branch.py: dropped legacy auto-sync branch + _build_auto_sync_config; _validate_replay_paths now requires imu_csv_path; replay_input_adapter_factory parameter removed - cli/replay.py: --time-offset-ms / --skip-auto-sync / --auto-trim emit DeprecationWarning + stderr line; values ignored - tlog_replay_adapter.py + tlog_ground_truth.py docstrings: AUDIT-ONLY Tests: - DELETED test_az405_auto_sync, test_az405_replay_input_adapter, test_az698_window_alignment (covered code no longer runs) - ADDED test_az895_auto_sync_deprecated_stub (5 parametrised, pins AC-1) - test_az402_replay_cli: deprecation warnings + ignored-value asserts - test_az401_compose_root_replay: new imu_csv_path-required gate; deleted the calibration-loading test that relied on the removed replay_input_adapter_factory injection point - test_derkachi_real_tlog: xfail reason refreshed to AZ-848 + AZ-883 (AC-4 "AZ-848-scoped reason") Docs: - module-layout.md: replay_input file list flags deprecated modules, adds csv_ground_truth.py - _dependencies_table.md: +AZ-908 row, preamble + totals updated (179 -> 180 tasks, 567 -> 570 SP) - AZ-908 backlog spec added; AZ-895 spec moved todo -> done - batch_03_cycle4_report.md written Touched-module tests green (111 passed, 1 skipped). Full unit suite green: 2287 passed, 85 skipped, 1 deselected (pre-existing flaky perf test, unrelated). Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-26 22:09:59 +03:00
Oleksandr Bezdieniezhnykh	64d961f60c	[AZ-697] [AZ-702] tlog GPS truth + KHP20S30 factory calibration ... Batch 98 (cycle 2) — first two PBIs of epic AZ-696 (real-flight validation harness): AZ-697: direct binary-tlog GPS-truth extractor - New src/gps_denied_onboard/replay_input/tlog_ground_truth.py reads GLOBAL_POSITION_INT (with GPS_RAW_INT fallback) from a binary ArduPilot tlog via pymavlink.mavutil and returns a frozen+slotted TlogGroundTruth DTO with per-record ts_ns / lat_deg / lon_deg / alt_m / hdg_deg / vx_m_s / vy_m_s / vz_m_s. - Promoted l2_horizontal_m + match_percentage + GroundTruthRow from tests/e2e/replay/_helpers.py into the new production module src/gps_denied_onboard/helpers/gps_compare.py. The e2e helper now re-exports the same objects (identity, not copies) so existing test imports continue working untouched. - tests/e2e/replay/conftest.py prefers the real derkachi.tlog when present, falls back to the CSV synth path otherwise. - 22 new unit tests cover AC-1..AC-5 (mypy --strict subprocess test included). All passing. AZ-702: Topotek KHP20S30 factory-sheet camera calibration - New _docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json: fx = fy = 4644.444, cx = 960, cy = 540, HFOV ~ 23.3 deg, VFOV ~ 13.2 deg, computed from the published 8.5 mm focal length + 1/2.8" sensor + 1920x1080 capture at lowest zoom step. Distortion zeroed, body_to_camera_se3 = identity with nadir convention. Acquisition method explicitly recorded as factory_sheet so downstream code can expect higher residual error than a lab calibration. - _docs/00_problem/input_data/flight_derkachi/camera_info.md updated to document the assumptions, expected residual error window, and conftest pick-up rule. - tests/e2e/replay/conftest.py::_calibration_path() prefers khp20s30_factory.json when present, falls back to adti26.json. - 9 new unit tests cover AC-1..AC-4 (schema, intrinsics traceback, doc reference, conftest pick-up). All passing. Test run: 45 new tests, all passing. Full-suite gate deferred to Step 16 (after the last batch in cycle 2 per the implement skill). Adjacent note (not fixed in this batch, recorded in the batch report): auto_sync.py has the same redundant pymavlink type:ignore + a few numpy/cv2 mypy --strict issues. None on this batch's path. Refs: _docs/03_implementation/batch_98_cycle2_report.md Refs: _docs/02_tasks/done/AZ-697_tlog_ground_truth_extractor.md Refs: _docs/02_tasks/done/AZ-702_khp20s30_calibration.md Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-20 16:09:03 +03:00