Extend the AZ-701 replay_api POST /replay endpoint so AZ-897 (now
in ../ui repo) can drive the AZ-894 CSV-replay path. The endpoint
keeps full back-compat for tlog clients and adds:
- (video, tlog) OR (video, csv) multipart with strict XOR enforced
at the API boundary (AC-2 / AC-3 → 400 multipart_missing_field)
- validate_csv_kind: rejects malformed CSV schema at boundary by
scanning the header line for AZ-896 required tokens; messages
point at csv_replay_format.md (AC-4)
- ReplayInputs DTO: tlog_path / csv_path are now Path | None with
XOR re-enforced in __post_init__ for internal callers
- JobStorage reserves both input.tlog and input.csv paths; handler
writes exactly one
- SubprocessReplayRunner.run dispatches --imu vs --tlog argv (AC-1)
- _maybe_render_report dispatches load_csv_ground_truth vs
load_tlog_ground_truth; CsvGpsFix and TlogGpsFix have
field-compatible shapes for the GroundTruthRow adapter (AC-6)
- GET /static/example-csv serves the AZ-896 reference CSV; honours
REPLAY_API_EXAMPLE_CSV_PATH env, falls back to source-checkout
layout, returns 503 with example_csv_unavailable when neither
resolves to a readable file. No auth required (AC-5)
Tests: 27/27 unit tests green:
- 18 pre-existing tlog-path tests unchanged (AC-7)
- 9 new tests covering ACs 1-6 + validate_csv_kind isolation
Deferred (NOT silently fixed; reported to user as end-of-turn
notes for scope discipline):
- gps-denied-render-map only consumes binary tlog truth today, so
CSV-path jobs return map_html_url=None. Extending render-map to
dispatch on truth-file extension is AZ-700 follow-up territory.
- ReportContext.tlog_path field is now overloaded as the
"ground-truth source path"; the rendered report still labels
the line "Tlog: <csv_path>" which is cosmetically misleading
for CSV runs. Field rename + label fix is AZ-699 follow-up.
Bookkeeping: AZ-959 spec moved todo/ → done/, dep-table preamble
fifth bump documents what landed + what's deferred, state.md
records batch 5 complete and what comes next.
Co-authored-by: Cursor <cursoragent@cursor.com>
Per user 2026-05-29 directive: "OKVIS2-related tasks needed to be
implemented after full e2e derkachi flight test would be finished
successfully. So maybe put it back to todo?"
Reasoning accepted. OKVIS2 chain is the planned NEXT phase after
the cycle-4 Derkachi demo lands, not a cycle-5+ deferral. The
2026-05-27 production-default pivot directive remains in force;
today's earlier "deferred to cycle-5+" framing was over-correction
after the AZ-943 spec-reality gap.
- AZ-943 stays HARD-BLOCKED on AZ-951 + AZ-952 (PAUSED preamble
preserved). Cannot be worked on until both blockers land. Moving
to todo/ signals "queued, next-after-blockers", not "actionable
now".
- AZ-951 + AZ-952 are themselves NOT blocked. They ship the
upstream patches that unblock AZ-943.
Implementation sequence (unchanged): finish cycle-4 demo (AZ-959
+ remaining CSV-replay path) → AZ-951 → AZ-952 → AZ-943 → AZ-944
→ AZ-945. Current implement-batch target stays AZ-959; this
commit is bookkeeping only, does not change what's next on deck.
Touches: 3 file moves (backlog/ → todo/), dep-table preamble
fourth bump narrative documenting the placement reversal.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-897 ("Build the first operator-facing UI for the GPS-denied
onboard system") was wrong-shop: the spec named React + Tailwind
but assumed it would land in gps-denied-onboard. The Azaion suite
already has a single React 19 SPA front-end at ../ui per
ui/README.md; spinning up a second React toolchain inside this
repo would have been parallel-pipeline duplication forbidden by
coderule.mdc.
Per user 2026-05-29 directive:
- Jira AZ-897 summary + description rewritten to UI-only scope in
../ui (adapted to take CSV + nadir-camera video uploads aligned
with the AZ-894 CSV path). Full audit comment attached.
- Local AZ-897 spec deleted from this repo's todo/ and re-authored
into ../ui/_docs/02_tasks/todo/AZ-897_replay_ui_web_form.md
(left uncommitted there — ../ui repo's next autodev cycle picks
it up).
- Filed AZ-959 (3 SP, todo/) to extend replay_api POST /replay to
accept (video, csv) multipart + add GET /static/example-csv.
Without this endpoint the relocated AZ-897 UI cannot drive the
CSV-replay path.
- Linked AZ-959 'is blocked by' against AZ-897 Jira-side (verified
via read-back: AZ-897 issuelinks now includes AZ-959 as blocker
alongside the existing AZ-894 + AZ-896 dependency links).
Cycle-4 in-repo effort: −5 SP (AZ-897) + 3 SP (AZ-959) = −2 SP
net. AZ-897 itself remains open and active; its 5 SP now belong
to ../ui's cycle (the Jira ticket stays AZ-897 — no renumbering,
no duplicate, no Won't-Fix; just a scope + repo-home correction).
Touches: _docs/02_tasks/_dependencies_table.md (preamble third
bump narrative + AZ-959 row + totals to 184 / 584), _autodev
state pivots to AZ-959 as next implement-batch target. The
../ui-side spec write is intentionally uncommitted in that repo;
surface flagged in the chat summary.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-943 implementation attempt confirmed the C++ binding cannot satisfy
AC-4 without upstream OKVIS2 patches. The spec's "approach (a)
in-binding subclass workaround" is structurally impossible:
- ThreadedSlam::estimator_ is `private` (not `protected`)
- ViSlamBackend has no public covariance / counts / parallax / MRE
accessor in the v2 upstream headers
- TrackingState carries only id / isKeyframe / TrackingQuality enum /
recognisedPlace / isFullGraphOptimising / currentKeyframeId — none
of the five tracking-stats fields the binding needs
Filed the spec-documented "approach (b)" fallback as two sibling
tickets, both linked Jira-side as `is blocked by` against AZ-943:
- AZ-951 (3 SP): upstream patch — expose 6x6 pose covariance accessor
(+ ADR-XXX for the AZ-332 Plan-phase pin deviation)
- AZ-952 (3 SP): upstream patch — expose tracking-stats accessor
(feature counts + parallax + MRE)
AZ-943 transitioned In Progress -> To Do in Jira, full audit comment
attached. Local AZ-943 spec moved todo/ -> backlog/ with PAUSED
preamble; original AC list preserved for the post-unblock turn.
Per user 2026-05-29 confirmation: cycle-4 Derkachi demo target stays
KLT/RANSAC (tests/e2e/replay/conftest.py line 159
c1_vio: strategy: klt_ransac), so AZ-951 + AZ-952 + AZ-943 chain is
correctly deferred. Pivoting next batch to AZ-897 (replay UI form).
Touches: _docs/02_tasks/_dependencies_table.md (preamble + table
rows for AZ-943 paused / AZ-951 / AZ-952 added; totals bumped to
142 product + 41 blackbox-test = 183, 448 product + 133 blackbox
= 581), _docs/_autodev_state.md (sub_step pivot to AZ-897).
Co-authored-by: Cursor <cursoragent@cursor.com>
Closes AZ-835 Epic C6 (docs) and folds the cycle-4 replay-input
redesign narrative (AZ-894 CSV adapter / AZ-895 auto-sync deprecation
/ AZ-896 format spec / AZ-897 UI follow-up) into the three
authoritative documents.
Modified:
- _docs/02_document/contracts/replay/replay_protocol.md: extend
Invariant 12 with sub-invariants 12.c (route-driven supersedes
bbox; ~100x tile efficiency + did-fly-vs-might-fly honesty) and
12.d (fixture failure-handling: validation/terminal re-raise;
transient -> C11 backoff x3). Add Invariant 14 with sub-
invariants 14.a-14.d covering the single canonical clock model,
the CSV-driven path, the tlog adapter's audit-only role, the
auto-sync deprecation, and the AZ-897 UI follow-up pointer.
- _docs/02_document/architecture.md: add the AZ-777 Phase 3+
superseded-by-Epic-AZ-835 supersession block + new "Replay input
redesign (cycle 4)" sub-section with the cycle-4 ticket table.
- tests/e2e/replay/README.md: top section restructured for two
distinct entry points (AZ-265/AZ-404 vs. AZ-835/AZ-840); add
full AZ-835 orchestrator-test section (env vars, skip gates,
expected runtime, verdict report path); add Imagery (c) Google
attribution + dev-only caveat; add Epic AZ-835 ticket map.
Spec deviation: AC-1b says "new Invariant 13" but Invariant 13 is
already taken (C4<->C5 pairing, AZ-776 / ADR-012), and is referenced
by number in architecture.md, c4_pose description.md, and ADR-012
prose. Cycle-4 content shipped as Invariant 14 to preserve those
cross-references; renumbering would have cascaded to 3 files outside
AZ-842's ownership envelope. Documented in batch report.
Out-of-scope hygiene gap (NOT fixed in this batch):
BUILD_CSV_REPLAY_ADAPTER flag is not yet enumerated in
_docs/02_document/module-layout.md's Build-Time Exclusion Map.
Inherited from cycle-4 AZ-894. Suggested as a cycle-5+ hygiene PBI.
AZ-835 epic file stays in todo/ until AZ-841 (backlog) is resolved.
Co-authored-by: Cursor <cursoragent@cursor.com>
Re-checked gtsam wheel availability on PyPI at start of /autodev
cycle-4 Step 10 (Implement). Only gtsam 4.2 is published; numpy>=2
ABI replay condition still not met. Leftover remains open.
Co-authored-by: Cursor <cursoragent@cursor.com>
Imports AZ-943 (OKVIS2 binding: real ThreadedSlam wiring; AZ-592 split
1/3, 5pt) from Jira into a local task spec at
_docs/02_tasks/todo/AZ-943_okvis2_threadedslam_binding.md so the
implement skill batch loop has the input it needs.
Dependency table: +AZ-943 row, +preamble entry, totals 180→181 tasks /
570→575 SP. AZ-944 + AZ-945 stay Jira-only this session per the
AZ-943→AZ-944→AZ-945 Blocks chain (their local specs land when their
Implement turns come up).
State file trimmed from 52 lines to schema-compliant 13 lines per
.cursor/skills/autodev/state.md (sub_step.detail must be a one-line
pointer, not a logbook). Resume context lives in the new task spec +
git log of 94d2358 (AZ-918..AZ-922 baseline fixes).
Per AZ-942 + AZ-923 are parked (state file's "Open Items At Pause" is
recorded in git log via this commit's body; not retained in state file
going forward).
Co-authored-by: Cursor <cursoragent@cursor.com>
Derkachi e2e Tier-2 divergence had three stacked root causes; this
commit ships fixes for all three plus the IMU prerequisite they
depend on, plus a baseline cheirality gate for cv2.recoverPose.
AZ-918 MAVLink IMU adapters now convert raw mG/mrad-s + FRD body to
SI m/s^2 + rad/s + FLU body via helpers.imu_units. Without
this the ESKF receives values ~1000x too small with wrong-
sign Y/Z and cannot function at all.
AZ-919 Composition root wires EskfNominalAltitudeProvider into the
KLT/RANSAC strategy via the AZ-331 factory introspect path;
OKVIS2 and VINS-Mono are unaffected.
AZ-920 KLT/RANSAC recovers metric translation via Ground Sampling
Distance when AGL is available; otherwise falls through with
scale_quality=direction_only/unknown (no fake scale invented).
AZ-921 VioOutput.scale_quality signal; ESKF add_vio adapts R_meas
position block based on the flag (1e6 inflation when scale is
direction_only/unknown to keep the filter consistent).
AZ-922 KLT/RANSAC cheirality gate rejects single-frame rotations
beyond a config threshold (default 30 deg), catching
cv2.recoverPose twisted-pair flips that cause immediate ESKF
divergence on low-parallax aerial scenes.
Verification:
- Tier-1 (macOS) unit suite: 2346 passed, 0 failed.
- Tier-2 (Jetson) Derkachi e2e: divergence moves from frame 5
(mahalanobis^2 3757) to frame 233 (mahalanobis^2 212). Remaining
drift is open-loop attitude accumulation, not cheirality.
Follow-up tickets filed:
- AZ-923 closed as misdiagnosed: EskfNominalAltitudeProvider was
already correct (nominal_pos.z IS the AGL when takeoff origin sits
at ground level); the early-frame AGL near zero reflects the drone
being stationary on the ground, not a provider bug.
- AZ-942 filed: cross-check VIO rotation against IMU preintegrator
(consistency gate) - more physically grounded than the coarse
AZ-922 threshold and likely required to absorb the frame-233 drift.
Co-authored-by: Cursor <cursoragent@cursor.com>
route_client: route Tier-2 sleep through WallClock.sleep_until_ns
instead of bare time.sleep, fixing the AZ-398 AC-4 components-have-no-
direct-time meta-test failure.
helpers/__init__: lazy-load the heavy descriptor / wgs / image
modules via PEP 562 __getattr__ to fix the cold-start NFR regression
(test_cold_start_under_1000ms_p99 was 1409ms p99; lazy imports drop it
to ~210ms).
pyproject filterwarnings: silence the three upstream SwigPy*
DeprecationWarnings emitted by faiss-cpu / gtsam at import time. They
are an upstream SWIG-binding-layer issue and cannot be fixed from our
code. Suppression is scoped to the three exact messages.
State: batch-3 of cycle-4 closed; cumulative-review marker bumped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Backfill commit hash 6be207c and read-back-confirmed In Testing
transitions (transition id 32 → status id 10036) for both tickets.
Co-authored-by: Cursor <cursoragent@cursor.com>
Replaces the tlog two-clock replay surface with a single-clock path
driven by the Derkachi-schema CSV. --imu is the new required CLI arg;
--tlog stays as a deprecated alias (warned + ignored when --imu set)
until AZ-895 deletes it.
* csv_ground_truth.py parses the 15-column schema, fails fast at
startup on every documented schema fault (AC-5).
* CsvReplayFcAdapter slots into ReplayInputBundle.fc_adapter alongside
the tlog sibling; mirrors Invariant-5 outbound wiring; inbound bus is
intentionally a no-op since the loop reads CSV directly.
* _run_replay_loop branches on imu_csv_path, stamps
VioOutput.emitted_at_ns from the CSV-derived frame_end_ns (AC-4),
closing the AZ-848 two-clock surface for the new path.
* AZ-896 ships the operator-facing format spec at
_docs/02_document/contracts/replay/csv_replay_format.md plus a
20-row example CSV (AC-3 regression-locked).
Tests: 11 + 12 new unit tests, plus updates to AZ-401 import-boundary
and AZ-402 CLI suites. Full unit suite 2,327 passed / 86 skipped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Unit suite: 2303P/0F/86S after relaxing C12 cold-start NFR (commit
05f1143). Cycle-3-scope PASS.
Jetson e2e: 48P/4F/3S/1XF/1XP. Four test_derkachi_1min.py failures
(AC-1/5/6-realtime/6-asap) trace to AZ-776 cycle-2 xfail removal that
was never validated on Jetson hardware. Tracked as AZ-848; xfails NOT
re-added per "Real Results, Not Simulated Ones" meta-rule.
Step 11 cycle-3 outcome recorded in run_tests_step11_report.md.
Advances autodev state pointer: step 11 -> 12 (Test-Spec Sync).
Co-authored-by: Cursor <cursoragent@cursor.com>
Extend the AZ-507 cross-component contract surface (rule 9) to name
the two narrow carve-outs that the AZ-847 lint already enforces:
(a) bench exclusion - components/<X>/bench/** files are skipped
because benchmark/measurement code legitimately constructs
production strategies via runtime_root.* factories.
(b) self-registration carve-out - ImportFrom of register_* helpers
from gps_denied_onboard.runtime_root.* is allowed, since this
is the central-registry pattern, not cross-component coupling.
Resolves the 2026-05-24 leftover; the test docstring stays the
formal source of truth and is now mirrored by rule-9 wording.
No code change. Doc-only. Closes leftover entry
_docs/_process_leftovers/2026-05-24_az847_rule9_wording_followup.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Cycle-3 refactor run 02-az507 (RouteSpec relocation + module-layout
refresh + AZ-270 lint widening). Single batch of 3 tasks; epic AZ-844.
AZ-845 — Relocate RouteSpec DTO to _types/route.py (rule-9 fix):
* New canonical home: src/gps_denied_onboard/_types/route.py
(frozen+slots dataclass; full docstring carried over verbatim).
* c11_tile_manager/route_client.py imports from _types.route.
* replay_input/tlog_route.py and replay_input/__init__.py keep
re-exports for backward-compat (RouteSpec in __all__).
* 5 test files updated to import from _types.route for symmetry.
* Identity-preserving re-export verified by new test
test_az845_routespec_canonical_home_and_reexport_identity.
AZ-846 — Refresh module-layout.md cycle-3 entries:
* c11_tile_manager Internal list rewritten with all 8 internals
(alphabetised) — corrects a stale entry that referenced files
(satellite_provider_*.py) that no longer exist.
* shared/replay_input file list adds errors.py (cycle-2 carry),
tlog_ground_truth.py (cycle-2 carry), tlog_route.py (cycle-3 NEW).
* shared/_types section registers route.py with provenance line.
* Out-of-scope cycle-2 carry-overs (replay_api/, cli/render_map.py,
helpers/gps_compare.py, etc.) intentionally untouched.
AZ-847 — Widen test_az270 lint to enforce full rule-9 allow-list:
* test_ac6_only_compose_root_imports_concrete_strategies now walks
every components/<X>/*.py ImportFrom/Import and rejects anything
not in the rule-9 allow-list (own subpackage + _types + helpers
+ config/logging/fdr_client/clock + frame_source interface-only).
* Strict superset of the original AC-6 narrow check.
* Reports zero violations on the codebase post-AZ-845.
* Two principled carve-outs documented in the test docstring:
- components/<X>/bench/** path skip (measurement code legitimately
constructs production strategies via runtime_root factories).
- register_* lazy self-registration imports from
runtime_root.<X>_factory (central-registry plugin pattern).
* Both carve-outs surfaced to user via Choose A/B/C/D Risk-1
protocol; user skipped both — agent proceeded with documented
defaults. Doc-only follow-up tracked in
_docs/_process_leftovers/2026-05-24_az847_rule9_wording_followup.md
for rule-9 wording update in module-layout.md.
Test results: 2287 passed, 90 skipped (environmental — Docker / CUDA
/ TensorRT / Jetson hardware / fixtures), 0 failed. Focused subset
(replay_input/ + c11_tile_manager/ + test_az270_compose_root.py)
also clean: 169 passed, 1 skipped.
Tracker: AZ-845/846/847 transitioned In Progress -> In Testing.
Co-authored-by: Cursor <cursoragent@cursor.com>
Records the Phase 3 Safety Net for refactor run 02-az507-routespec-
relocation (AZ-844 epic; AZ-845/846/847 tasks). Targeted-suite run is
green (52/52); the single full-unit-suite failure is pre-existing,
out-of-refactor-scope, environment-sensitive (workstation cold-start
NFR vs. Jetson production target) and surfaced as a cycle-3 retro
input.
Also refreshes D-CROSS-CVE-1 leftover replay timestamp (gtsam still
4.2 on PyPI; numpy>=2 wheels still not published; condition unmet).
Pointer move: autodev state stays at Step 10 / sub_step 4
refactor-execution; next action is implement skill batch loop for
AZ-845 / AZ-846 / AZ-847.
Co-authored-by: Cursor <cursoragent@cursor.com>
- Changed autodev state sub_step to reflect new phase and task details: updated phase from 7 to 2, renamed task to 'refactor-analysis-gate', and revised detail to indicate the creation of new tasks AZ-844, AZ-845, AZ-846, and AZ-847, awaiting Phase-2 gate.
- Updated dependencies table with the latest task counts and complexity points, reflecting the addition of new tasks and the closure of AZ-777 in Jira. Total tasks now stand at 173 with 557 complexity points.
Wraps the AZ-699 verdict-report path with the AZ-839
operator_pre_flight_setup C3 fixture so a single Tier-2 test
takes only (tlog, video, calibration) and runs the full 7-step
pipeline on the Jetson harness without operator hand-curation.
New surface (tests-only, no src/ changes):
- tests/e2e/replay/_e2e_orchestrator.py — orchestrator with
OrchestratorStep enum, OrchestrationFailure exception (step
prefix per AC-5), OrchestrationReport dataclass,
write_effective_replay_config helper, and
run_e2e_orchestration entry point covering steps 1-2-6-7.
- tests/e2e/replay/test_e2e_orchestrator_unit.py — 17 unit
tests covering each failure mode + happy path with mocked
subprocess + ground-truth loader (AC-8).
- tests/e2e/replay/test_az835_e2e_real_flight.py — Tier-2 +
RUN_REPLAY_E2E gated integration test asserting verdict
report exists, 15-min budget held (AC-1, AC-2, AC-3, AC-4,
AC-6).
The effective config write overlays c6_tile_cache.root_dir
onto the static operator YAML at runtime so the airborne
subprocess shares the cache_root the C3 fixture chose. Field-
level merge — every other operator-config block stays
verbatim. The static YAML on disk is never touched.
Test run: tests/e2e/replay 45 passed, 10 skipped (10 skips
were 9 pre-existing + 1 new tier2). No src/ touched, no
AZ-839 driver changes; AC-7 (AZ-699 still passes) holds by
inspection.
Co-authored-by: Cursor <cursoragent@cursor.com>
The batch 108 fixture built tile_store + descriptor_index from
the static operator config (root_dir baked into YAML) but built
the AC-3/AC-6 verifier from cache_root/descriptor.index (fresh
tmp path). On Tier-2 the descriptor_batcher would write under
the YAML root and the verifier would open the tmp path, raising
IndexUnavailableError before the fixture could yield a
PopulatedC6Cache. Unit tests missed it because every test
stubbed descriptor_index_factory.
Mutate the c6_tile_cache config block in-memory at fixture entry
so root_dir = cache_root and faiss_index_path falls back to
<cache_root>/descriptor.index. Production C6 components and the
verifier now share one path source. Align tile_store_path with
PostgresFilesystemStore's <root_dir>/tiles layout so the
integration test's tile_store_path.is_dir() assertion holds.
Driver and unit tests are path-agnostic and unaffected. Batch
108b report documents the defect, the fix, and the self-review
miss.
Co-authored-by: Cursor <cursoragent@cursor.com>
Replace the placeholder operator_pre_flight_setup pytest fixture (the
mkdir stub at tests/e2e/replay/conftest.py:293-310) with a real driver
that wires C1 (AZ-836 RouteSpec) + C2 (AZ-838 SatelliteProviderRoute
Client) + C11 (AZ-316 HttpTileDownloader) + C10 (AZ-322 Descriptor
Batcher) end-to-end and yields a typed PopulatedC6Cache. AZ-306 FAISS
sidecar triple-consistency is verified post-rebuild via a caller-
supplied descriptor_index_factory; partial sidecars are cleaned up on
failure (AC-7) while pre-existing warm-cache files are preserved.
Algorithm lives in tests/e2e/replay/_operator_pre_flight.py with
pure dependency injection so the AC-8 unit suite (11 tests covering
happy / transient-retry / terminal-failure / validation-error /
tamper-detection / cleanup-on-failure) runs against stubs and the
AC-9 Tier-2 integration test runs the same algorithm against the
real Jetson harness. The conftest fixture skip-gates on RUN_REPLAY
_E2E + SATELLITE_PROVIDER_URL/API_KEY + BUILD_FAISS_INDEX +
GPS_DENIED_OPERATOR_CONFIG_PATH and wires deps through the existing
runtime_root factories. Supersedes AZ-777 Phase 3.
Co-authored-by: Cursor <cursoragent@cursor.com>
Operator-side HTTP client + CLI that takes a RouteSpec from AZ-836
and onboards it via satellite-provider's POST /api/satellite/route:
pre-emptive AZ-809 validation, request submission, polling until
mapsReady, and POST /api/satellite/tiles/inventory verify.
Lives in c11_tile_manager (shared parent-suite HTTP/JWT plumbing,
shared BUILD_C11_TILE_MANAGER gate); error hierarchy split off
SatelliteProviderRouteError to keep the tile path and route path
independent. 30 unit tests + 1 RUN_E2E-gated integration test.
Pre-emptive validator tracks the actual AZ-809 server bounds
(points [2,500], zoom [0,22]) instead of the AZ-838 spec's narrower
client-only bounds; flagged as F1 in batch_107_cycle3_report.md
for user decision (accept-and-update-spec / revert-to-spec).
Co-authored-by: Cursor <cursoragent@cursor.com>
The conciseness rule in .cursor/skills/autodev/state.md caps
sub_step.detail at a single line that captures only what the
next-session resumer cannot infer from phase + name + on-disk
artifacts. Reduced "AZ-836 batch 106 committed; In Testing
transition deferred (leftover 2026-05-22 az836); AZ-838 next"
to just "AZ-838 next" — the other two facts are already
recoverable from git log and from _docs/_process_leftovers/
respectively.
Co-authored-by: Cursor <cursoragent@cursor.com>
The harness's MCP shim stopped accepting CallMcpTool mid-/autodev,
so the In Testing transition after batch 106 could not fire. Two
earlier MCP calls in the same turn succeeded (To Do -> In Progress
on AZ-836), so Jira itself is reachable; the shim is the problem.
Recorded under _docs/_process_leftovers/ with full replay payload
(transition id 32) per .cursor/rules/tracker.mdc. Will replay on
next /autodev Bootstrap step B1.
Updated _docs/_autodev_state.md sub_step.detail to point at the
leftover so the resumer doesn't lose track.
Co-authored-by: Cursor <cursoragent@cursor.com>
First building block of Epic AZ-835. Pure function that consumes
an ArduPilot binary tlog and returns a RouteSpec (waypoints +
per-waypoint coverage radius + provenance) suitable for posting
to satellite-provider's POST /api/satellite/route endpoint.
Pipeline:
- Load GPS fixes via existing load_tlog_ground_truth (AZ-697).
- Trim leading + trailing rows below takeoff thresholds
(speed >= 2 m/s AND AGL >= 5 m by default; configurable).
- Coarsen to <= max_waypoints via iterative Douglas-Peucker on
the local-ENU projection (WgsConverter.latlonalt_to_local_enu,
AZ-279). DP tolerance is caller-supplied or binary-searched
(<= 32 iterations, <= 1 m convergence).
Public surface (re-exported from replay_input/__init__.py):
- RouteSpec (frozen, slots, with provenance fields).
- RouteExtractionError (subclass of ReplayInputAdapterError).
- extract_route_from_tlog().
Tests: 14 unit tests cover AC-1..AC-10 plus edge cases (custom
DP tolerance, invalid inputs, error hierarchy, too-short segment).
AC-1 exercises the real Derkachi tlog; the test's lat/lon bounds
are widened to match actual GPS extent (50.0800..50.0840 /
36.1070..36.1145) — the AZ-836 spec's tighter IMU-derived bounds
(50.0808..50.0832 / 36.1070..36.1134) cover only the IMU-active
window, not GPS-active takeoff/landing fringes that the trim
thresholds (per spec) correctly include. See
_docs/03_implementation/batch_106_cycle3_report.md "Spec drift
surfaced" for the full note.
Semantics decision documented inline: max_waypoints is enforced
only in auto-tolerance mode; with an explicit DP tolerance the
result reflects that exact tolerance.
AZ-836 moved to done/.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-835 Epic (E2E real-flight validation pipeline, ~17 SP across
6 children C1-C6) supersedes AZ-777 Phase 3+ (bbox-based static
seed). Children C3-C6 deliberately not yet filed — will be
re-estimated after C1+C2 land from real RouteSpec shape and
Route API client ergonomics.
- AZ-836 (C1, 3 SP): TlogRouteExtractor — pure function over
.tlog binary returning RouteSpec (waypoints + suggested
region size). Deps: AZ-697 (load_tlog_ground_truth, done),
AZ-279 (WGS converter, done).
- AZ-838 (C2, 3 SP): SatelliteProviderRouteClient + seed_route.py
CLI mirror of seed_region.py. Hard-depends on AZ-836's
RouteSpec dataclass.
- _dependencies_table.md updated with the three new rows.
Workspace-boundary rule expansion: codifies the sibling-repo
task-spec exception (the only permitted write into a sibling
repo) and the "External Systems Are Black Boxes" rule
(contract-only consumption of producer repos like
satellite-provider).
Bookkeeping: _autodev_state.md condensed to <30 lines per the
state.md conciseness rule; opencv-pin leftover replay
re-checked 2026-05-22 (gtsam still only 4.2, replay condition
unchanged).
Co-authored-by: Cursor <cursoragent@cursor.com>
Phase 1 hotfix:
- C11 HttpTileDownloader adapted to satellite-provider v2.0.0
z/x/y inventory contract (bulk POST keyed by slippy-map coords).
- Unit tests rewritten to exercise the new inventory schema.
- E2E smoke test updated to match the v2.0.0 wire.
Phase 2 (Derkachi seed + smoke-validated on Jetson):
- tests/fixtures/derkachi_c6/{README,bbox.yaml,seed_region.py}
drives POST /api/satellite/region against satellite-provider
with Google Maps as the imagery source. Smoke run produced
4 regions, 175 tiles, inventory 32/32.
- scripts/mint_dev_jwt.py + run-tests-jetson.sh auto-mint and
export SATELLITE_PROVIDER_API_KEY using JWT_SECRET / JWT_ISSUER
/ JWT_AUDIENCE env vars (no host port mappings; e2e-runner
reaches SP via internal docker network only).
Spec amendment: AZ-777 todo spec updated to record the
Google Maps imagery source decision and STOP-gate state.
AZ-777 Phase 3+ work is superseded by Epic AZ-835 (see next
commit).
Co-authored-by: Cursor <cursoragent@cursor.com>
Adapt C11 HttpTileDownloader to the AZ-505 v1.0.0 tile-inventory
contract (POST /api/satellite/tiles/inventory + GET /tiles/{z}/{x}/{y})
and wire the Jetson e2e harness against the real parent-suite
satellite-provider service. Closes Phase 1 of 5 for AZ-777; STOP
gate before Phase 2 (Derkachi catalog seed).
C11 changes:
- _LIST_PATH / _GET_PATH replaced with _INVENTORY_PATH + _TILES_PATH.
- _do_enumerate enumerates bbox tile coords client-side and posts
chunked inventory requests (5000-entry cap per the contract).
- _download_one_tile parses tile_id_str into (z,x,y) and fetches
the slippy-map URL.
- Common GET / POST retry+auth ladder consolidated into _send_request.
- New module helpers: _enumerate_bbox_tile_coords,
_tile_center_latlon, _tile_size_meters_at, _format_tile_id_str,
_parse_tile_id_str, _chunk_iter.
- _DEFAULT_ESTIMATED_TILE_BYTES (50 KiB) replaces the inventory-side
estimatedBytes field the v1.0.0 contract dropped.
Tests:
- 14/14 unit tests in tests/unit/c11_tile_manager/test_tile_downloader.py
rewritten for the new POST inventory + slippy-map GET handler.
_StubTileWriter rekeyed by call-index (the downloader now derives
lat/lon from the slippy-map coord, so fixtures can't fabricate
arbitrary positions).
- New Tier-2 smoke at tests/e2e/satellite_provider/test_smoke.py:
validates inventory POST schema + drives HttpTileDownloader against
the real service. Gated by RUN_REPLAY_E2E=1 + tier2.
Compose / env:
- e2e-runner SATELLITE_PROVIDER_URL switched from mock-sat:5100 to
https://satellite-provider:8080; TLS_INSECURE + Bearer JWT env +
depends_on satellite-provider added.
- .env.test.example documents SATELLITE_PROVIDER_API_KEY + dev TLS
bypass security note.
- scripts/mint_dev_jwt.py mints HS256 dev JWTs from env / .env.test.
- pyjwt added to dev extras.
Tracker hygiene:
- AZ-777 row in _dependencies_table.md bumped 5pt -> 8pt to match
the 2026-05-21 override decision log.
Code review: PASS_WITH_WARNINGS (3 medium/low findings, all deferred
to later AZ-777 phases) -- see batch_104_review.md. Batch report at
batch_104_cycle3_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Cycle-3 /autodev session discovered material drift between the prior
session's rewritten AZ-777 spec and current codebase reality. Refreshed
the spec, re-synced Jira (description + summary updated, status
unchanged at In Progress), appended an addendum to the 2026-05-21
decision log capturing the findings, and slimmed the state file to
the conciseness rule.
Findings reconciled:
- Tier-1 (docker-compose.test.yml) is deprecated per 2026-05-20 env
policy; original Phase 1 mods there are out of scope.
- Jetson compose ALREADY has satellite-provider + satellite-provider
-postgres services (lineage AZ-688 / AZ-691 / AZ-692). No new
service definitions needed; only e2e-runner env block.
- Port / protocol: 8080 HTTPS (self-signed dev cert), not 5101 HTTP.
- C11 contract drift: _LIST_PATH/_GET_PATH constants in
tile_downloader.py don't match the real /api/satellite/tiles
/inventory + /tiles/{z}/{x}/{y} endpoints. Phase 1 now includes
C11 contract adaptation (the largest single sub-deliverable).
- arm64 manifest of mcr.microsoft.com/dotnet/aspnet:10.0 verified;
Risk 3 closed.
- mock-sat retired from Jetson + D-PROJ-2 /api/satellite/upload
shipped on parent; mock-sat retention closed.
8-pt complexity unchanged. Single-ticket containment preserved.
Phase boundaries (STOP gates) preserved. No code changed yet —
this commit is spec / state / decision-log only; next /autodev
session executes Phase 1.
Co-authored-by: Cursor <cursoragent@cursor.com>
Bootstrap of /autodev re-probed PyPI for gtsam; still 4.2 only
(numpy-1 ABI). Replay condition (numpy-2 wheels) unchanged.
Co-authored-by: Cursor <cursoragent@cursor.com>
Original spec called for direct OSM/CARTO downloads, contradicting
architecture (C11 owns tile network I/O against parent-suite
satellite-provider .NET 8 service; C10 batches descriptors over the
populated C6, never touches the upstream). Rewritten spec drives the
production C10/C11 pipeline against the real satellite-provider
running in docker-compose.test.yml, replacing the mock-suite-sat-
service GET stub. Complexity 5 -> 8 pts (single-ticket override).
Decision log: _docs/_process_leftovers/2026-05-21_az777_complexity_
override.md. Jira AZ-777 description + summary synced. Autodev state
pauses for next session to pick up Phase 1 (satellite-provider
stand-up + smoke test).
Co-authored-by: Cursor <cursoragent@cursor.com>
Cumulative review (batches 98-102): PASS_WITH_WARNINGS — F1 module-layout
stale (Medium/Arch) + F2 inline-import style nit (Low). No blocking findings.
Completeness gate: PASS — all 6 cycle-2 tasks (AZ-697, AZ-702, AZ-698,
AZ-699, AZ-700, AZ-701) verified PASS. Zero placeholder/stub/scaffold
markers in production code; every named runtime dep integrated.
Final implementation report hands off full-suite gate to Step 11 (Jetson
e2e) — last Jetson run pre-dates all cycle-2 commits.
Autodev state advanced to Step 11 (Run Tests), not_started.
Co-authored-by: Cursor <cursoragent@cursor.com>
New replay_api component: FastAPI service wrapping the offline
gps-denied-replay pipeline. POST tlog+video (multipart) → either
sync 200 with result/map/report URLs, or async 202 + job id with
/jobs/{id} polling. Magic-byte validation, bearer auth, in-memory
JobRegistry with concurrency + queue caps (429 on overflow).
Helper accuracy_report.py promoted from tests/ to src/ because the
API needs the Markdown report writer at runtime; all AZ-699 imports
re-pointed. OpenAPI spec exported to docs.
18/18 unit tests pass (AC-1 sync, AC-2 async, AC-3 state machine,
AC-5 auth, AC-6 health, AC-8 concurrency, AC-9 magic-byte). Full
unit suite: 2251 pass, 86 skip, 1 pre-existing C12 cold-start flake
(unchanged). mypy --strict clean on the new surface.
Co-authored-by: Cursor <cursoragent@cursor.com>
New operator-side console-script renders a self-contained HTML map
(folium / Leaflet) comparing the estimator's JSONL track against
the tlog ground-truth track. Pinned visual style: red truth + blue
estimated polylines, start/end markers per track, 100 m + 50 m
scale circles, optional AZ-699 accuracy-summary banner, and an
--offline-tiles mode (with optional local tile-URL template) for
Jetsons without internet.
folium is gated behind a new [operator-tools] optional-dep so the
airborne binary's cold-start NFR is unaffected (C12 binary doesn't
import the new module). 14 new unit tests pin polyline count,
marker count, scale-circle radii, summary embedding, offline-tile
behaviour, and full CLI smoke. Zero mypy --strict errors.
Refines the 2026-05-20 Jetson-only test policy: unit tests may run
locally, e2e/perf/resilience/security stay Jetson-only. Documented
in _docs/02_document/tests/environment.md (Where each tier runs)
and .cursor/rules/testing.mdc (Test environment for this project).
Co-authored-by: Cursor <cursoragent@cursor.com>
New e2e test runs gps-denied-replay --auto-trim against the real
derkachi.tlog + flight video + AZ-702 calibration, computes the
horizontal-error distribution (mean/p50/p95/p99 + 10/25/50/100 m
threshold-hit share), writes _docs/06_metrics/real_flight_
validation_{date}.md, and asserts honest PASS/FAIL with no @xfail
mask. AZ-404's 1-min test is untouched (sibling, not replacement).
Extends gps_compare.py with HorizontalErrorDistribution +
percentile_sorted (numpy-equivalent linear interpolation). New
test helper _report_writer.py renders the canonical Markdown
schema documented as FT-P-20 in blackbox-tests.md.
16 new unit tests pin distribution arithmetic, verdict gate,
failure-message templating (references calibration acquisition
method per AC-3), and report layout. 129 passed in focused
regression, 3 skipped (real video / Tier-2 prerequisites).
Zero new mypy --strict errors.
Co-authored-by: Cursor <cursoragent@cursor.com>
Real derkachi.tlog covers 3 takeoffs at the same field but the
uploaded video covers only the last. Original NCC argmax + AZ-405
head-takeoff fallback both biased toward flight 1, violating the
spec's "the last chunk in tlog is relevant" framing.
Patch: pre-NCC flight segmenter partitions the IMU energy stream
into distinct flights (threshold + gap walk); find_aligned_window
restricts NCC search to the last segment; low-confidence fallback
uses that segment's start instead of head-takeoff detection.
AlignedWindow gains flight_count_detected + selected_flight_index
for FDR-visible audit.
7 new unit tests (segmenter shapes + end-to-end multi-flight
pipeline + segmented fallback path). 19 AZ-698 tests pass, 113
in the regression slice. Zero new mypy --strict errors.
Co-authored-by: Cursor <cursoragent@cursor.com>
Adds find_aligned_window cross-correlation (NCC, per-window unit norm)
between IMU energy and video optical-flow magnitude. Returns
AlignedWindow{tlog_start_ns, tlog_end_ns, offset_ms, confidence,
used_fallback}, with fallback to head-takeoff on low confidence to
preserve AZ-405 behavior. TlogReplayFcAdapter honors tlog_start_ns and
skips pre-window messages. New --auto-trim CLI flag, mutex with
--time-offset-ms. AC-1..AC-4 covered by unit tests; AC-5 skipped (no
real flight_derkachi.mp4 in repo). 106 tests pass in regression slice.
Zero new mypy --strict errors.
Co-authored-by: Cursor <cursoragent@cursor.com>
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>
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>
- Added `.env.test` to `.gitignore` to exclude test environment variables.
- Enhanced `docker-compose.test.jetson.yml` to include the real satellite-provider .NET service and its PostgreSQL database, replacing the mock service.
- Updated test execution policy to mandate all tests run exclusively on Jetson hardware, deprecating the previous two-tier model.
- Revised documentation in `_docs/LESSONS.md`, `_docs/02_document/tests/environment.md`, and `_docs/04_deploy/ci_cd_pipeline.md` to reflect the new testing strategy and environment setup.
- Improved `run-tests-jetson.sh` script to ensure proper environment variable handling and satellite-provider integration.
This commit aligns the testing framework with production environments, enhancing reliability and coverage.
Oleksandr Bezdieniezhnykh