FT-P-15: parse FDR `cache-self-check` records; assert every tile-manifest
entry has CRS, tile_matrix, dimension, m_per_px, capture_date, source,
compression; m_per_px >= 0.5 (or rejected by FDR `tile-load-rejected`).
FT-P-16: read `docker network inspect e2e-net` + `docker inspect <sut>`
snapshots; assert `Internal == true` AND SUT attached only to e2e-net.
The 0-egress semantic of AC-8.3 is enforced structurally.
FT-P-18: walk FDR + tile-cache, probe JPEG dimensions via stdlib SOF
parser, reject any file matching nav-camera raw pattern (5472x3648 or
880x720). Extrapolate thumbnail-log size to 8h; assert < 1 GB.
Adds runner.helpers.tile_cache_inspector with five evaluators
(manifest schema, offline mode, raw-frame detection, thumbnail budget,
JPEG dimension probe) + walk_files helper. Pure-logic coverage: 43
new unit tests; full e2e/_unit_tests/ suite 793 passing (was 746).
Scenarios skip locally when SITL replay fixture or docker-inspect
env vars are missing; production hooks (cache-self-check FDR record,
tile-load-rejected events, docker-inspect snapshots) are tracked
outside this task.
See _docs/03_implementation/batch_82_report.md +
reviews/batch_82_review.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Archive AZ-420 to done/; add cumulative review for batches 79-81 (PASS,
no new findings); advance autodev state to await batch 82.
Co-authored-by: Cursor <cursoragent@cursor.com>
FT-P-12: parse mavproxy-listener tlog over a 60 s Derkachi replay and
assert SUT->GCS GLOBAL_POSITION_INT cadence lands in [1, 2] Hz (AC-6.1).
FT-P-13: inject `RELOC:<lat>,<lon>,<radius_m>` STATUSTEXT while the SUT
is in dead_reckoned; verify FDR `c8.gcs.operator_command` ack <=2s,
`anchor_search_region` centre shifts toward the hint, and no
BAD_SIGNATURE / UNAUTHORIZED / REJECTED STATUSTEXT lands in the
post-inject window (AC-6.2).
Adds runner.helpers.gcs_telemetry_evaluator (rate, hint-ack correlation,
haversine search-region shift, rejection scan) and
sitl_observer.capture_gcs_tlog (parity surface to capture_ap_tlog).
Pure-logic coverage: 39 new unit tests; full e2e/_unit_tests/ suite
746 passing (was 700). Scenarios skip locally on missing SITL replay
fixture; production hooks (inbound STATUSTEXT parser, anchor_search_region
FDR emitter) tracked outside this task.
See _docs/03_implementation/batch_81_report.md +
reviews/batch_81_review.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Phase 1: extend sitl_observer with cursor-based `wait_for_outbound`
returning `OutboundMessage` from `outbound_messages_<fc_kind>_<host>.json`
fixtures. Three outcomes: message, TimeoutError (null entries), or
RuntimeError (missing/malformed). Fix FT-P-01 + FT-P-05 scenarios to
use `fc_kind=` kwarg.
Phase 2: FT-P-01 vertical-slice fixture builder under
`e2e/fixtures/sitl_replay_builder/`. Reuses the production
`gps-denied-replay` CLI + `ReplayInputAdapter`: encode 60 stills as
1 fps MP4 + synthetic stationary tlog (pymavlink); run replay;
project FDR outbound estimates into the schema. Avoids the
13+ cp of SUT-side frame-ingestion that a live-SITL-capture path
would have required. Live execution remains a manual operator step.
+35 unit tests (664 total, up from 637). K=3 cumulative review for
b76-b78 documents the offline-replay arc convergence.
Co-authored-by: Cursor <cursoragent@cursor.com>
Add `runner/helpers/replay_mode.py` (NullFrameSink, NullFcInboundEmitter,
default_frame_period_ms, load_replay_json, resolve_replay_subdir,
imu_replay_noop) and rewire all 13 scenarios off their local
`_resolve_*` / `_drive_*` / `_push_*` NotImplementedError stubs.
Closes the offline FDR-replay execution path. `grep raise
NotImplementedError` under `e2e/tests/` now returns zero matches. +17
unit tests (626 total, up from 608). Unit-test behaviour unchanged
(scenarios still skip via b75 sitl_replay_ready gate when
E2E_SITL_REPLAY_DIR is unset).
Co-authored-by: Cursor <cursoragent@cursor.com>
Add `runner/helpers/fc_proxy_runtime.py` wrapping the existing
`BlackoutSpoofProxy` (AZ-406) with a scenario-facing `drive_fc_proxy`
entry point. FDR-replay mode only: loads `schedule.json`, optionally
activates the proxy against a caller clock for alignment verification,
and writes a `proxy_drive_report.json` audit record into
`${E2E_SITL_REPLAY_DIR}` for downstream evaluators.
Replaces the local `_drive_fc_proxy` stub in FT-N-04. Adds 3
@property accessors on `BlackoutSpoofProxy` so the wrapper does not
reach into private attributes. +11 unit tests (608 total, up from
596). Live-mode router wiring remains out of scope (future ticket).
Co-authored-by: Cursor <cursoragent@cursor.com>
Implement all 11 `sitl_observer` public surfaces as an offline
FDR-replay strategy (reads JSON fixtures under `${E2E_SITL_REPLAY_DIR}`
instead of live pymavlink/yamspy). Replace 12 per-scenario
`_harness_helpers_implemented` probes with one shared session-scoped
`sitl_replay_ready` fixture in `e2e/tests/conftest.py`.
Net: -636 LoC of duplicated scenario gating, +17 LoC shared fixture,
+38 new unit tests (596 total, up from 558). Includes K=3 cumulative
review for batches 73-75 (PASS).
Co-authored-by: Cursor <cursoragent@cursor.com>
Replaces the NotImplementedError stubs AZ-406 reserved on three runner-
side helpers; these were stranded from any tracker ticket since
AZ-407/408 never came back to fill them. Concrete bodies:
* fdr_reader.iter_records: JSONL parser + wire-envelope validator;
recursive *.jsonl walk; projects {schema_version, ts, producer_id,
kind, payload} to runner-side FdrRecord with record_type/monotonic_ms
renames; yields oldest-first.
* frame_source_replay.replay_video: OpenCV VideoCapture decode + JPEG
re-encode; auto-detects file vs directory; injectable sleep_fn for
unit-test pacing.
* imu_replay.ImuReplayer.replay: csv.DictReader parse; degrees->radians
attitude conversion; tolerates scientific notation; same sleep_fn
injection pattern.
Adds 34 unit tests (14 + 10 + 10). Full e2e unit suite: 558 passed (+31).
Existing scenario _harness_helpers_implemented probes still return False
because they also depend on sitl_observer / fc_proxy_runtime stubs that
remain pending; scenario probe cleanup is out of AZ-594 scope.
Co-authored-by: Cursor <cursoragent@cursor.com>
Three blackbox-harness tasks landed together — all depend only on
AZ-406 and unblock the FT-* / NFT-* scenario tasks scheduled for
batches 69+.
AZ-407 — Static fixture builders (3pt):
* tile-cache-builder/{builder.py, Dockerfile, build.sh} produces a
deterministic tile-cache-fixture Docker volume from
_docs/00_problem/input_data/. Reproducibility primitives: sorted
iteration, frozen PIL JPEG settings, FAISS HNSW32 built single-
threaded with seeded stub descriptors.
* age-injector/{age_injector.py, inject.sh} clones the volume and
shifts capture_date by N×30.44 days; tile JPEG bytes preserved
bit-identical. Emits synth-age-7mo + synth-age-13mo volumes.
* cold-boot/cold_boot_fixture.json: frozen FC pose snapshot at
Derkachi sector centre, schema v1.
* secrets/mavlink-test-passkey.txt: 64-hex with required
`# TEST ONLY` header line per AC-5. Passkey-equality test now
compares the secret line after stripping the header.
* security/cve-2025-53644.jpg: synthetic 158-byte malformed JPEG
(truncated SOS marker). OpenCV 4.11.x rejects gracefully with
imdecode → None. AZ-439 will sharpen for ASan instrumentation.
* Top-level Makefile with `make fixtures` / `make fixtures-*` /
`make e2e-tier1*` / `make unit-tests` targets.
AZ-444 — Tier-2 Jetson harness wrapper (5pt):
* run-tier2.sh rewritten as orchestrator. Detects local
(aarch64 + TIER2_HOST=localhost) vs remote (ssh into TIER2_HOST).
New flags: -k/--selector, --build-kind production|asan,
--reflash (gated behind TIER2_REFLASH_ACK=1 two-key gate),
--dry-run.
* tier2-on-jetson.sh (new) — on-device delegate. Verifies
gps-denied-onboard{,-asan}.service health; restarts with 5s
tolerance; spawns tegrastats + jtop parallel samplers; tails
ASan unit's journal in asan mode; drives docker compose with
TIER=tier2-jetson; forwards SELECTOR to pytest -k.
* docker/run-tier1.sh (new) — selector-parity sibling.
* AC-1 (selector parity) and AC-6 (reflash gating) unit-tested via
--dry-run output assertions. AC-2/AC-3/AC-4/AC-5 are hardware-
loop ACs verified by the Tier-2 runtime smoke (no Jetson in the
unit-test layer).
AZ-445 — CSV reporter + evidence bundler refinements (2pt):
* reporting/nfr_recorder.py (new) — pytest plugin. Provides the
`nfr_recorder` fixture with record_metric(name, value, ac_id)
and partial(ac_id, reason). At session end emits:
- per-nfr/<scenario_id>.json (AC-1)
- traceability-status.json with every AC ID parsed from
traceability-matrix.md, classified Covered/PARTIAL/NOT
COVERED with source scenario IDs (AC-2)
- regression-baseline.json with all numeric metrics (AC-3)
* csv_reporter.py extended — `_outcome_to_result` consults the
aggregator; rows flip PASS → PARTIAL when an AC was marked
PARTIAL by nfr_recorder (AC-4). Graceful fallback when
aggregator isn't registered (unit-test contexts).
* conftest.py registers nfr_recorder in pytest_plugins.
* New --traceability-matrix CLI flag seeds the NOT COVERED rows.
Build / config:
* pyproject.toml dev extras: added Pillow>=10.4,<13.0 for the
tile-cache-builder unit test (broad enough to keep torchvision's
Pillow 12 pin happy; the production builder runs inside its own
Docker image with its own pin).
* Updated test_directory_layout.py to cover 10 new files + replaced
the byte-equal passkey assertion with the header-stripping
variant.
Test results:
* 157 focused tests pass (was 97 in batch 67; +60 new across this
batch). No regressions.
Module-layout / spec drift:
* AZ-407 spec text says `tests/fixtures/...`; module-layout
blackbox_tests entry (commit d7a17a8) authoritatively places the
harness under `e2e/`. Implementation followed the layout entry.
* AZ-444 spec mentions `e2e/tier2/run-tier2.sh`; AZ-406 placed it
at `e2e/jetson/run-tier2.sh`. Kept at `e2e/jetson/` for
consistency.
* Cold-boot README ownership: corrected from AZ-419 to AZ-407 per
AZ-419's own Dependencies field.
Specs archived to _docs/02_tasks/done/. Jira tickets transitioned to
In Testing on commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
Bootstraps the public-boundary blackbox test harness owned by epic
AZ-262 (E-BBT). Establishes the e2e/ directory tree at the repo root,
fully separated from src/gps_denied_onboard/** and from the in-process
tests/** tree, and commits to the contracts every subsequent test
ticket (AZ-407..AZ-446) builds against.
Tier-1 (workstation Docker):
- docker/docker-compose.test.yml wires SUT + ArduPilot SITL + iNav SITL
+ mock Suite Sat Service + mavproxy listener + e2e-runner onto one
e2e-net bridge with internal: true (enforces RESTRICT-SAT-1 /
NFT-SEC-02 egress isolation at the network layer).
- docker/docker-compose.tier2-bridge.yml override disables the in-
compose SUT so Tier-2 pairs SITLs + mock + runner on an x86 host
while the SUT runs natively on the Jetson under systemd.
Tier-2 (Jetson):
- jetson/run-tier2.sh + tier2.service systemd unit + tegrastats /
jtop parsers feed per-sample telemetry into the evidence bundle.
Runner image (e2e/runner/):
- Dockerfile + requirements.txt install ONLY ground-side libs
(pymavlink, opencv-python>=4.12, numpy/scipy/geopy/pyproj, httpx,
orjson, pydantic, structlog, pytest 8.x). The runner deliberately
does NOT install the SUT package.
- conftest.py implements the AC-9 skip-rule mapping (tier2_only,
chamber_only, vins_mono, deferred_ac) tied to environment.md
parametrize axes.
- reporting/csv_reporter.py is a pytest plugin emitting one row per
test with the exact 11-column schema from environment.md §
Reporting (test_id, test_name, traces_to, fc_adapter, vio_strategy,
tier, started_at_utc, execution_time_ms, result, error_message,
evidence_paths). XFAIL surfaced only when a test carries
@pytest.mark.deferred_ac(verdict="xfail", reason=...).
- reporting/evidence_bundler.py exposes the attach_evidence fixture
that copies per-test artifacts (.tlog, FDR archives, screenshots,
tegrastats / jtop CSVs) into the run bundle and records relative
paths into the reporter's evidence_paths column.
- helpers/{frame_source_replay,imu_replay,sitl_observer,
mavproxy_tlog_reader,fdr_reader}.py declare the public surfaces
(concrete implementations owned by AZ-407 / AZ-408 / AZ-416 /
AZ-417 / AZ-441 per the dependency table); helpers/geo.py ships
today (no downstream task dep) — WGS84 distance / forward-bearing
/ offset via pyproj with NaN rejection.
Mock Suite Sat Service (e2e/fixtures/mock-suite-sat/):
- FastAPI app: POST /tiles (ingest contract from D-PROJ-2 follow-up),
GET /tiles/audit + /mock/audit (per-run read-back), POST
/mock/config (force-status, response delay), POST /mock/reset
(clears audit between tests), GET /mock/health.
Fixture scaffolds (e2e/fixtures/{tile-cache-builder, age-injector,
injectors, cold-boot, secrets, security}/):
- Public surfaces only. Concrete builders land in AZ-407 (static
fixtures), AZ-408 (runtime synthetic injection), AZ-419 (cold-boot
fixture), AZ-439 (CVE-2025-53644 JPEG generator).
Test tree (e2e/tests/{positive,negative,performance,resilience,
security,resource_limit}/):
- Mirror of the test-spec category grouping in
_docs/02_document/tests/*-tests.md.
- tests/positive/test_smoke.py is the AC-1 harness-boot smoke run
inside the e2e-runner image once Docker brings everything up.
Out-of-container unit tests (e2e/_unit_tests/):
- Exercises the harness internals (CSV reporter plugin lifecycle,
conftest skip rules, helper modules, parsers, mock app, compose
YAML structural contract, public-boundary enforcement) without
Docker / SITL. 97 unit tests, all passing.
Build / config:
- pyproject.toml: testpaths extended with e2e/_unit_tests; pythonpath
extended with e2e; fastapi>=0.111,<0.120 added to dev extras for the
mock-app TestClient unit test.
AC coverage:
- AC-1 (Tier-1 boot) → compose YAML test + directory layout
+ smoke test (Docker-bound)
- AC-2 (mock services) → 6 FastAPI TestClient unit tests
- AC-3 (SITLs accept output) → contract present; concrete check
deferred to AZ-416 / AZ-417
- AC-4 (CSV columns) → in-process plugin lifecycle test
emits the exact 11-column schema
- AC-5 (egress isolation) → static config test + runtime probe
in Docker-bound smoke
- AC-6 (Tier-2 contract) → tegrastats + jtop parser unit tests
+ jetson/* layout test; full Tier-2
contract is AZ-444
- AC-7 (fixture reproducibility) → deferred to AZ-407 per task spec
- AC-8 (parametrize matrix) → vins_mono skip-rule cases +
tests/positive/test_smoke
- AC-9 (skip semantics) → 9 conftest skip-rule unit tests
Module layout entry for blackbox_tests was added in 2026-05-16
preparatory commit d7a17a8 so this diff stays focused on the harness
scaffold. AZ-406 advances to In Testing on commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
Cycle 1 Product Implementation Completeness Gate post-mortem.
AZ-589 + AZ-590 were the wrong abstraction:
- AZ-589 targeted `okvis::ThreadedKFVio` (OKVIS v1 API) which does
not exist in the vendored OKVIS2 upstream; smartroboticslab/okvis2
exposes `okvis::ThreadedSlam` instead.
- AZ-590 assumed a "de-ROSified VINS-Mono pin" submodule exists;
`cpp/vins_mono/upstream/` has no `.gitmodules` entry.
- The actual production gap is the empty central
`_STRATEGY_REGISTRY`: `register_strategy(...)` is never called
outside test fixtures, so `compose_root()` raises
`StrategyNotLinkedError` for every component slug with a
strategy-selecting config field. Affects c1_vio + c2_vpr +
c2_5_rerank + c3_matcher + c3_5_adhop + c4_pose + c5_state.
Re-classification:
- AZ-589 + AZ-590 closed Won't Fix (Jira); spec files removed
from todo/ but rows retained in the dependencies table as
audit-trail.
- AZ-591 created (todo/, 5pt) — cross-cutting compose_root
per-binary bootstrap that populates `_STRATEGY_REGISTRY` for
the airborne binary. Scheduled as Batch 66 sole task.
- AZ-592 created (backlog/, 5pt placeholder) — AZ-332 Tier-2
validation bundle (real `okvis::ThreadedSlam` wiring + Linux CI
apt-install + DBoW2 vocab + Jetson). BLOCKED on Tier-2
prerequisites; honors AZ-332's `AZ-332_tier2_validation`
self-deferral handle.
- AZ-593 created (backlog/, 5pt placeholder) — AZ-333 Tier-2
validation bundle (de-ROSified VINS-Mono upstream + binding +
CI + Jetson). BLOCKED on upstream vendoring decision plus
Tier-2 prerequisites; honors AZ-333's parallel deferral pattern.
- AZ-332 + AZ-333 re-classified in cycle1 gate report from FAIL
to BLOCKED-on-Tier-2.
Step 7 stays in_progress until AZ-591 lands; after that it can
advance to Step 8 with AZ-592 + AZ-593 parked in backlog/.
Co-authored-by: Cursor <cursoragent@cursor.com>
The Product Implementation Completeness Gate (cycle 1, 2026-05-16)
audited 107 done product tasks. 105 PASS / 0 BLOCKED / 2 FAIL.
FAIL findings — both AZ-332 (OKVIS2) and AZ-333 (VINS-Mono) ship a
real Python facade + AC-tested fake backend, but their native pybind11
bindings (_native/okvis2_binding.cpp, _native/vins_mono_binding.cpp)
are skeletons: _build_estimator() sets estimator_built_ = false; the
first add_frame() raises *FatalException("estimator not yet wired").
Production-default VIO and the comparative-study path both crash on
the first nav-camera frame.
Remediation tasks created in _docs/02_tasks/todo/:
- AZ-589 remediate_okvis2_threadedkfvio_wiring (5pt)
- AZ-590 remediate_vins_mono_estimator_wiring (5pt)
Both tasks also seed the per-binary bootstrap register_strategy() call
sites — the existing strategy registry in runtime_root/__init__.py is
never invoked in src/ today.
Artifacts:
- _docs/03_implementation/implementation_completeness_cycle1_report.md
- _docs/02_tasks/todo/AZ-589_remediate_okvis2_threadedkfvio_wiring.md
- _docs/02_tasks/todo/AZ-590_remediate_vins_mono_estimator_wiring.md
- _docs/02_tasks/_dependencies_table.md (+2 rows; totals refreshed)
- _docs/_autodev_state.md (Step 7 phase 1 parse;
current_batch: 66)
Returning to implement-skill Step 1 to parse Batch 66 against these
remediation tasks (per Step 15 option A).
Co-authored-by: Cursor <cursoragent@cursor.com>
Adds an opt-in C5-internal orthorectifier (`_orthorectifier.py`) that
emits at most one tile-aligned JPEG candidate per nav frame to the
C6 `TileStore.write_tile` API. Quality gates fire before any
OpenCV work: covariance Frobenius, inlier floor, source-label
(`SATELLITE_ANCHORED` only), and once-per-frame rate limit.
Cross-component import rule (AZ-507) is preserved: c5_state never
imports c6_tile_cache. `runtime_root.state_factory` carries a new
`_C6MidFlightIngestAdapter` that builds the canonical
`TileMetadata` (`ONBOARD_INGEST` / `FRESH` / `PENDING`), hashes
the JPEG, and translates `FreshnessRejectionError` to a `None`
return so the orthorectifier silently swallows freshness
rejection per AC-NEW-3.
Wiring is opt-in via `C5StateConfig.orthorectifier.enabled`;
existing tests/binaries default to disabled and are unaffected.
Both `GtsamIsam2StateEstimator` and `EskfStateEstimator`
participate through new `attach_orthorectifier` /
`set_latest_nav_frame` extension methods (Protocol surface
unchanged).
Tests: 22 new unit tests cover AC-1..AC-9 plus inlier-floor
gate plus the composition-root adapter. 216/216 c5_state and
38/38 runtime-root + compose tests pass.
Co-authored-by: Cursor <cursoragent@cursor.com>
All FC adapter outbound MAVLink bytes now go through the AZ-401
MavlinkTransport seam (NoopMavlinkTransport in replay,
SerialMavlinkTransport in live). New helpers in
_outbound_mavlink_payloads.py extract encode/pack/seq-bump so the four
AP _send sites and the iNav statustext _send site become
encode -> pack -> transport.write. TlogReplayFcAdapter emits real
AP-shape MAVLink bytes through the injected NoopMavlinkTransport,
satisfying replay protocol Invariant 5 and unblocking AZ-401 AC-9.
Closes AZ-558. Also unskips AZ-401 AC-9 and AZ-404 AC-4b. Live wire
output remains byte-identical (proven via two-instance MAVLink
byte-equivalence tests). AST scan asserts no .mav.<name>_send( calls
remain in the retrofit set (AP / iNav / tlog adapters).
Out of scope (logged in review): GCS adapter retrofit; airborne live
strategy registration that would activate the SerialMavlinkTransport
factory injection path.
Tests: 2110 passed, 92 environmental skips, 1 unrelated pre-existing
macOS cold-start flake deselected.
Co-authored-by: Cursor <cursoragent@cursor.com>
Implements the replay-mode CLI dispatcher per ADR-011 (replay-as-
configuration):
- src/gps_denied_onboard/cli/replay.py: argparse with all 6 required
args (--video, --tlog, --output, --camera-calibration, --config,
--mavlink-signing-key) plus --pace and --time-offset-ms; path
validation, calibration JSON schema-validation, config mutation
(mode='replay' + replay sub-block + signing-key hex on dev_static
field), dispatch into runtime_root.main(config).
- runtime_root.main() now accepts an optional Config (additive,
backward-compat). Adds dedicated catch for ReplayInputAdapterError
mapping to EXIT_FDR_OPEN_FAILURE (2) so the CLI's exit-code matrix
holds end-to-end (AC-9 + epic AZ-265 AC-8).
- Signing-key contents stored as hex; redacted in startup banner.
- Top-level except logs full traceback via logger.exception + stderr
print and exits 1.
The CLI does NOT call compose_root directly — it builds a Config and
hands it to the shared airborne main, which calls compose_root, which
branches on config.mode (AZ-401 / replay protocol Invariant 11).
Tests: 22 unit tests covering AC-1..AC-10 + extras (signing-key
redaction, file-not-dir validation, dev_static propagation, unhandled
exception traceback). Full regression: 2085 passed (+22) green; no
new flaky tests.
Co-authored-by: Cursor <cursoragent@cursor.com>
Wires the airborne composition root for replay-as-configuration (ADR-011):
- compose_root(config) branches on config.mode in {"live", "replay"}.
Live behaviour is unchanged; replay builds ReplayInputAdapter,
attaches JsonlReplaySink, and injects NoopMavlinkTransport.
- New private module runtime_root/_replay_branch.py holds the
replay-only strategy graph + build-flag gate + calibration loader.
- Config gains Config.mode (Literal["live","replay"]) plus
Config.replay sub-block with nested ReplayAutoSyncConfig that mirrors
the AZ-405 AutoSyncConfig DTO; YAML loader + ENV map updated.
Absorbs the AZ-400 transport-seam retrofit that AZ-401 strictly
required but AZ-400 had not delivered:
- New MavlinkTransport Protocol (write/bytes_written/close).
- NoopMavlinkTransport (replay; build-flag gated, idempotent close,
thread-safe byte counter).
- SerialMavlinkTransport (live, no-op restructure of existing pymavlink
byte path; encoder retrofit to actually USE it is the AZ-558
follow-up).
AZ-401 AC-9 (NoopMavlinkTransport.bytes_written > 0 after C8 encoders
run) is BLOCKED on AZ-558 — the encoder routing retrofit is out of
the AZ-401 task envelope (FORBIDDEN files: pymavlink_ardupilot_adapter,
msp2_inav_adapter). AZ-558 spec, batch_61_review.md, and the test's
@pytest.mark.skip rationale all carry the deferral reason.
Tests: 22 compose_root replay-branch tests + 17 transport tests.
Full regression: 2063 passed, 86 environment-skips, 1 documented
skip (AC-9 / AZ-558), 1 pre-existing flaky perf test deselected.
Co-authored-by: Cursor <cursoragent@cursor.com>
Adds the Layer-4 cross-cutting `replay_input/` module per ADR-011:
ReplayInputAdapter converges (video, tlog) into the standard
FrameSource + FcAdapter + Clock surfaces the airborne composition
root consumes. Owns time-alignment between video frames and tlog
IMU/attitude ticks (manual via --time-offset-ms or auto via the
AZ-405 IMU-take-off detector + Farneback motion-onset detector).
Auto-sync algorithm (auto_sync.py):
- Tlog take-off detector: sustained vertical-accel excess > 0.5 g for
>= 0.5 s + sustained attitude-rate magnitude > 1 rad/s.
- Video motion-onset detector: dense Farneback flow magnitude > 1.5 px
sustained >= 0.5 s (deterministic per AC-10).
- compute_offset combines the two; confidence = min(tlog, video).
- validate_offset_or_fail implements the AC-9 95 % frame-window match
validator with configurable threshold + window.
ReplayInputAdapter.open() ordering (AC-13):
1. Load tlog samples + fail-fast on missing RAW_IMU/SCALED_IMU2 or
ATTITUDE BEFORE any video read.
2. Resolve offset (auto-sync OR manual override; manual bypasses the
detectors entirely per AC-8).
3. Run AC-9 validator on resolved offset; raise auto-sync hard-fail
for AC-7 (CLI exit 2 mapping).
4. Build single Clock instance per pace (TlogDerived/ASAP, Wall/REAL).
5. Construct VideoFileFrameSource and TlogReplayFcAdapter with the
resolved offset baked in (replay protocol Invariant 8).
Structured log + FDR records on auto-sync detected / low-confidence /
AC-8 hard-fail kinds. Idempotent close (AC-12).
Tests: 25 unit tests across tests/unit/replay_input/ covering all 13
ACs (kernel-level synthetic fixtures for AC-1..AC-10; coordinator-
level OpenCV synthetic videos + faked pymavlink for AC-6..AC-13).
Contract update: replay_protocol.md v2.0.0 added fdr_client to the
ReplayInputAdapter __init__ signature (was missing in the prose; the
task spec already listed it in the allowed-imports section).
Co-authored-by: Cursor <cursoragent@cursor.com>
Opens E-DEMO-REPLAY (AZ-265): the two C8 strategies that let the
upcoming compose_replay (AZ-401) and gps-denied-replay CLI (AZ-402)
run the production C1-C5 pipeline against a recorded (.tlog, video)
pair without touching live FC I/O.
AZ-400 lands the contract ReplaySink Protocol (emit + close per
replay_protocol.md v1.0.0) and JsonlReplaySink: orjson-serialised
JSONL, fsync-on-close, build-flag gated (BUILD_REPLAY_SINK_JSONL),
double-close idempotent, FDR mirror on open/close. The drifted
AZ-390 stub in interface.py is removed; the canonical Protocol now
lives in replay_sink.py per module-layout.md and is re-exported via
__init__.py. AZ-390 conformance test widened.
AZ-399 lands TlogReplayFcAdapter: full FcAdapter Protocol surface,
build-flag gated (BUILD_TLOG_REPLAY_ADAPTER), pymavlink stream-parse
with bounded pre-scan + fail-fast on missing required messages
(R-DEMO-3), dedicated decode thread feeding the existing AZ-391
SubscriptionBus. Outbound surface raises FcEmitError per Invariant 5;
request_source_set_switch raises SourceSetSwitchNotSupportedError.
Pacing honours Invariant 6 via Clock.sleep_until_ns. time_offset_ms
shifts every emitted received_at per Invariant 8. Non-monotonic
timestamps raise FcOpenError.
Test coverage: 188 c8_fc_adapter tests pass; 1 skipped (AZ-399 AC-1
500 MB tlog RSS bound, deferred to AZ-404 e2e behind RUN_REPLAY_E2E).
Code review: PASS_WITH_WARNINGS — 1 Medium (mapping logic duplicates
AZ-391 live decoder; intentional today, four behavioural deltas
documented), 2 Low.
Co-authored-by: Cursor <cursoragent@cursor.com>
Implement the single production-default C4 PoseEstimator strategy.
AZ-358 — Marginals path: OpenCV solvePnPRansac (SOLVEPNP_IPPE) on
best-candidate inliers, PriorFactorPose3 with Jacobian-derived initial
covariance, flushed into C5's iSAM2 graph via the widened
ISam2GraphHandle.update(graph, values, None) (Option B). Posterior
covariance from compute_marginals().marginalCovariance(pose_key) with
SPD-defensive Cholesky check. Tile pixel -> ENU world conversion via
the shared WgsConverter + a configurable tile_size_px. Two spec
deviations now documented in the AZ-358 task file: PriorFactorPose3
over GenericProjectionFactorCal3DS2 (avoids unbounded landmark
variables; same Fisher information on the pose marginal) and explicit
(graph, values, timestamps) update args (aligns with C5's impl).
AZ-361 — Jacobian + thermal hybrid: per-frame dispatch on
thermal_state.thermal_throttle_active selects the cv2.projectPoints-
derived 6x6 information matrix (with ridge regularisation) as the
emitted covariance. Skips the iSAM2 factor add under throttle
(Invariant 12). Emits CovarianceDegradedWarning via warnings.warn
(never raised); paired WARN log + FDR record rate-limited per
covariance_degraded_warn_window_ns (default 60 s) via an injected
monotonic Clock. Supersedes the AZ-358 NotImplementedError stub.
Widens ISam2GraphHandle from get_pose_key only to all five C4-facing
methods (add_factor, update, compute_marginals, last_anchor_age_ms);
C5's existing ISam2GraphHandleImpl already satisfies the superset, so
no C5 source change this batch. Threads fdr_client + clock through
pose_factory composition.
Registers two new FDR payload kinds: pose.frame_done (per-call
telemetry; both success and PnpFailureError paths) and
pose.covariance_degraded (per-window throttle exposure).
Tests: 21 new (AZ-358 AC-1..11 + AZ-361 AC-1..10/12/13; AZ-361 AC-11
RMSE-ratio informational per spec, not asserted). Updates 2 existing
test files for Protocol widening and the FDR-schema round trip.
Code review verdict: PASS_WITH_WARNINGS (5 findings: Medium x2,
Low x3; none blocking). Full suite: 1958 passed, 1 unrelated
host-dependent perf failure (c12 CLI cold-start, pre-existing).
Co-authored-by: Cursor <cursoragent@cursor.com>
Implement the three concrete C3 CrossDomainMatcher strategies plus the
C3.5 production-default AdHoPRefiner.
C3 (AZ-345/346/347):
- DiskLightGlueMatcher + AlikedLightGlueMatcher share a single shared
_pipeline.run_lightglue_pipeline orchestrator (decode -> query
extract -> per-candidate loop -> RANSAC sort -> health update ->
FDR emit) so the only per-backbone delta is the keypoint+descriptor
extractor closure. ALIKED adds a create-time engine output-schema
probe (AC-special-1).
- XFeatMatcher owns its own per-candidate loop (single forward fuses
extraction + matching); it re-uses the shared FDR emission helpers
to keep telemetry byte-identical across strategies. lightglue_runtime
parameter accepted by factory but discarded (AC-special-1).
- All three consume the shared LightGlueRuntime / RansacFilter /
RollingHealthWindow helpers; no helper forks. InferenceRuntimeCut
consumer-side Protocol added per AZ-507.
C3.5 (AZ-349):
- AdHoPRefiner implements the <= conditional gate, runs the OrthoLoC
AdHoP TRT engine over best-candidate correspondences, re-runs RANSAC
on the perspective-preconditioned set, and emits an enriched
MatchResult with refinement_label="adhop".
- Invariant 4 passthrough fall-through: any RefinerBackboneError (TRT
failure, OOM, NaN, bad shape) is caught, logged ERROR, FDR-emitted
with error: true, and converted to passthrough that still counts
against the rolling invocation-rate window. MemoryError and other
non-listed exceptions propagate by design (AC-5 closed-set
semantics).
- Rolling 60-s invocation-rate window + rate-limited WARN log
(configurable via ratelimited_warn_window_ns; default 60 s).
Shared changes:
- C3MatcherConfig + C3_5RefinerConfig extended with the new
weights/threshold/window fields.
- matcher_factory + refiner_factory optionally forward clock +
fdr_client to the strategy's create(); backward-compatible.
- fdr_client.records registers five new kinds: matcher.frame_done,
matcher.backbone_error, matcher.insufficient_inliers,
matcher.all_failed, refiner.frame_done.
Tests: 66 new (43 C3 parametrised + 23 AdHoP) covering 47/47 ACs;
focused suite green; full project test suite green except for one
pre-existing flaky CLI cold-start timing test unrelated to this batch.
Co-authored-by: Cursor <cursoragent@cursor.com>
Adds JsonSidecarWarmStartHintStore (atomic JSON + SHA-256 sidecar via
AZ-280) inside c1_vio, plus the cross-strategy WarmStartWiredStrategy
wrapper + prime_warm_start_from_disk / prime_warm_start_from_fc hooks
at runtime_root. AC-7 post-reset covariance inflation and AC-8 "no
fake confidence" baseline floor are enforced at the wiring layer so
no strategy module needed edits. Adds three c1_vio config fields
(warm_start_store_dir, warm_start_save_period_frames,
post_reset_covariance_inflation_factor) and registers the new FDR
kind vio.warm_start. 34 unit tests cover all 10 ACs + 3 NFRs.
Verdict PASS_WITH_WARNINGS — see
_docs/03_implementation/reviews/batch_56_review.md for the four
non-blocking documentation findings (F1 cold-start log kind shorthand,
F2 strategy-frame pose semantics, F3 dev-hardware perf smoke, F4
runtime_root importing c1-internal _facade_spine for shared FDR
conventions).
Closes AZ-335; depends on AZ-528 (batch 55).
Co-authored-by: Cursor <cursoragent@cursor.com>
Replace 3-way byte-equivalent orchestration-spine duplication across
okvis2.py / vins_mono.py / klt_ransac.py with a single c1-internal
helper at components/c1_vio/_facade_spine.py. Closes cumulative
review batches 52-54 Finding F1. No behaviour change — all existing
AZ-332 / AZ-333 / AZ-334 AC tests pass unmodified (114 c1_vio tests
green, 237 with adjacent regression suite).
The helper exposes 5 stateless free functions (now_iso, bias_norm,
se3_from_4x4, frame_ts_ns, frame_image) and a FacadeSpine mixin
class providing _classify_state / _tick_lost / _emit_transition.
Concrete strategies inherit the mixin and set spine-required
instance attributes in __init__. Mirrors the AZ-527 precedent for
c2_vpr-side _assert_engine_output_dim consolidation.
New test file test_az528_facade_spine.py covers AC-1..AC-8 with 19
tests, including an AST regression guard that prevents future
re-introduction of the consolidated free functions in any strategy
module, plus a Risk-1 static check that every strategy's __init__
assigns every spine-required attribute.
Archive AZ-528 task spec to done/, bump autodev state to batch 56.
Co-authored-by: Cursor <cursoragent@cursor.com>
Verdict: PASS_WITH_WARNINGS — auto-chain allowed per implement skill
Step 14.5. AZ-528 created as the formal hygiene PBI for the c1_vio
strategy facade orchestration-spine 3-way duplication (Medium /
Maintainability) — the deferred F1 finding from B53 + B54 per-batch
reviews. AZ-527 closes the parallel c2_vpr-side helper duplication
finding (carried over from cumulative-49-51 F1).
Carry-overs: F2 (B52-54 test-fake / _patch_pose_recovery sharing) +
cumulative-49-51 F2 (AC-10 spec wording drift across c2_vpr specs)
remain informational; no code defect, no active drift.
Next cumulative review trigger fires after Batch 57 (every K=3).
Co-authored-by: Cursor <cursoragent@cursor.com>
Implement KltRansacStrategy, the ADR-002 engine-rule mandatory
simple-baseline VioStrategy for E-C1. Pure-Python facade over
OpenCV's cv2.goodFeaturesToTrack / calcOpticalFlowPyrLK /
findEssentialMat / recoverPose pipeline — no C++/pybind11 binding
by design so a Tier-0 workstation runs the strategy with
`pip install opencv-python` and the BUILD_KLT_RANSAC=ON gate alone.
Constructor + state machine + FDR transition spine mirror
Okvis2Strategy + VinsMonoStrategy so the AZ-331 factory + IT-12
comparative harness treat all three as drop-in substitutable; the
duplication is the consolidation target now formally in scope for
the next cumulative review (batches 52-54).
AC coverage: AC-1..AC-11 + NFR-perf mapped to passing tests
(25 tests, 23 pass + 2 tier-2 skipped on dev/CI runners; all 25
pass under GPS_DENIED_TIER=2). Honest-covariance invariant (AC-9)
implemented as residual-scatter / (N_inliers - 5) with an inlier-
count penalty — no client-side floor or smoother; cov Frobenius
grows monotonically across DEGRADED. Camera-agnostic source
(AC-11) enforced by CI-grep gate that excludes docstring text.
Test-Run Cadence: focused suite tests/unit/c1_vio/ green (95 passed,
6 skipped); config-loader + compose-root suites green; full-suite
gate deferred to Step 16 per implement skill.
Co-authored-by: Cursor <cursoragent@cursor.com>
VinsMonoStrategy: Python facade conforming to AZ-331 Protocol; mirrors
the AZ-332 OKVIS2 facade so the AZ-331 factory + IT-12 comparative
harness can treat both as drop-in substitutable. Native binding is a
pybind11 skeleton compiled behind BUILD_VINS_MONO=ON (default OFF for
airborne / operator-tooling / replay-cli per module-layout.md
Build-Time Exclusion Map). Real vins_estimator wiring is the Tier-2
follow-up.
VinsMonoConfig added to c1_vio/config.py with sliding-window /
feature-tracker / marginalisation / opt-iteration knobs plus
__post_init__ validation; exported through the package __init__.
cpp/vins_mono/CMakeLists.txt replaces the AZ-263 placeholder with full
pybind11 wiring: Risk-1 mitigation forces VINS_MONO_USE_ROS=OFF;
Risk-2 mitigation links Eigen from the same cpp/_third_party/eigen pin
as OKVIS2; Risk-3 mitigation enforces BUILD_VINS_MONO=OFF in
deployment binaries via the gate at the top of the file.
Tests: 17 new in test_vins_mono_strategy.py (15 pass + 2 tier2 skip);
fake_vins_mono_binding fixture added to conftest.py mirroring the
fake_okvis2_binding pattern; test_protocol_conformance updated to drop
vins_mono from _STRATEGIES_WITHOUT_PY_MODULE so the existing
parametrised factory tests route through the new strategy.
Focused c1_vio suite: 72 passed, 4 skipped. Full suite: 1788 passed,
1 unrelated pre-existing flake (c12 cold-start perf, env-bound).
Co-authored-by: Cursor <cursoragent@cursor.com>
Closes cumulative review batches 49-51 Finding F1 (Medium /
Maintainability) -- the 7-way duplication of _assert_engine_output_dim
across c2_vpr secondary VPR strategy modules.
Add c2-internal helper assert_engine_output_dim(inference_runtime,
handle, preprocessor, descriptor_dim, *, output_key='embedding',
input_key='input') in src/gps_denied_onboard/components/c2_vpr/
_engine_dim_assertion.py. The helper runs a zero-init dry-run
inference at preprocessor.input_shape() and asserts the engine output
dict carries (1, descriptor_dim) under output_key. Raises
gps_denied_onboard.config.schema.ConfigError on mismatch (preserving
the prior error envelope and message wording byte-identically).
Migrate 7 strategy modules (ultra_vpr, net_vlad, mega_loc, mix_vpr,
sela_vpr, eigen_places, salad) to import the helper and delete the
local _assert_engine_output_dim definitions + their inline
'AZ-527 (planned)' comments. NetVLAD is the only call site that
overrides output_key='vlad_descriptor'; the other 6 explicitly pass
output_key=_OUTPUT_KEY + input_key=_ENGINE_INPUT_KEY (matching helper
defaults but documenting strategy contract at the call site).
Add tests/unit/c2_vpr/test_az527_engine_dim_assertion.py (14 tests,
AAA pattern, Protocol-conforming fakes) covering AC-1..AC-4: helper
signature; wrong shape raises ConfigError naming both dims; missing
output key raises ConfigError naming the missing key; AST-walk
regression guard for stray definitions outside the helper module
(modeled on AZ-526's test_ac4_az526_no_module_level_iso_ts_from_clock_outside_helper);
import-grep regression guard verifying all 7 strategy modules import
the helper.
AC-5 (existing AZ-337/338/339/340 AC-6 sub-tests pass unmodified) is
exercised transitively: c2_vpr/ full directory 230/230 PASS, no test
file modified outside the new test_az527_*. AC-6 (AZ-270 + AZ-507
layer lints) verified by tests/unit/test_az270_compose_root.py
8/8 PASS.
Code-review verdict: PASS (zero findings). Ruff clean.
Co-authored-by: Cursor <cursoragent@cursor.com>
Three new VprStrategy implementations for IT-12 comparative-study
(research binary only, gated OFF for airborne / operator-tooling per
ADR-002). All run via the C7 TensorRT runtime (or ONNX-RT fallback)
with their own concrete BackbonePreprocessor, single-stage L2
normalisation, and FaissBridge-delegated retrieval — same pattern as
AZ-339 (MegaLoc + MixVPR), parametrised in tests for compactness.
* SelaVprStrategy — D=512, input 224x224
* EigenPlacesStrategy — D=2048, input 480x480
* SaladStrategy — D=8448, input 322x322 (DINOv2-Large backbone;
heaviest in the C2 family — NFR-perf budget
relaxed to 120 ms p95 / 1200 MB GPU per task
spec)
The composition-root factory tables and KNOWN_STRATEGIES set were
already pre-wired at AZ-336 land time; module-layout.md already names
all three Internal entries and BUILD_VPR_* rows. No CMake change
required (env-flag gating).
54 unit tests (3 strategies * 18 cases) cover AC-1..AC-11 plus extras
(single-stage L2, NCHW FP16, constructor validation, FDR emission).
All pass; sibling c2_vpr suite + composition-root regression + AZ-526
iso-ts regression all green.
Code review verdict: PASS_WITH_WARNINGS. Two Low findings logged in
batch_51_review.md: F1 escalates `_assert_engine_output_dim`
duplication from 4-way to 7-way (already tracked by AZ-527 hygiene
PBI; will surface in cumulative review batches 49-51); F2 mirrors the
AZ-337 / 338 / 339 AC-10 spec-drift precedent (literal
ConfigurationError vs implemented ConfigError / StrategyNotAvailable).
Co-authored-by: Cursor <cursoragent@cursor.com>
Adds two research-only VprStrategy implementations for the IT-12
comparative-study matrix. MegaLocStrategy (D=2048, 322x322) and
MixVprStrategy (D=4096, 320x320), both via C7 TensorRT FP16 with
their own concrete BackbonePreprocessor. Single-stage global L2
normalisation; retrieval delegated to FaissBridge; FDR records +
structured logs identical to UltraVPR. BUILD_VPR_MEGALOC and
BUILD_VPR_MIXVPR ON for research/replay-cli only, OFF for airborne
and operator-tooling (fail-fast at composition root via existing
AZ-336 factory). Uses helpers.iso_ts_from_clock from day 1 — no
new timestamp helper duplicates introduced.
36 parametrised AC tests + 25 protocol-conformance + 18 helper
regression tests pass; 1690 / 1690 unit tests pass (excluding 1
pre-existing flaky cold-start subprocess test in c12). Verdict:
PASS_WITH_WARNINGS — one Medium follow-on (AZ-527 to consolidate
4-way _assert_engine_output_dim) + one Low AC wording drift.
Co-authored-by: Cursor <cursoragent@cursor.com>
Closes cumulative review 46-48 F1 (Medium) + F3 (Low). Adds
iso_ts_from_clock(clock) alongside iso_ts_now() in the Layer-1
helper; migrates four duplicate definitions in c2_vpr (net_vlad,
ultra_vpr, _faiss_bridge) and c12_operator_orchestrator
(operator_reloc_service). Output format flipped +00:00 -> Z to
align with iso_ts_now() and the canonical FDR _TS fixture (FDR
schema test passes unmodified).
18 helper AC tests + 186 sibling tests pass; ruff clean.
Co-authored-by: Cursor <cursoragent@cursor.com>
Batch 48 / Cycle 1 (greenfield Step 7). Closes cumulative review
batches 31-33 F2 and 28-30 F3 by replacing the duplicated private
_iso_ts_now() one-liners with a single Layer-1 helper:
src/gps_denied_onboard/helpers/iso_timestamps.py
iso_ts_now() -> str
Output format matches the canonical FDR _TS fixture
(YYYY-MM-DDTHH:MM:SS.ffffffZ); no FDR schema change.
Migrated call-sites (3): c7_inference/onnx_trt_ep_runtime,
c7_inference/thermal_publisher, plus the 3 c6_tile_cache callers
that previously imported from the local c6_tile_cache/_timestamp
shim (now deleted, superseded by the Layer-1 helper).
Spec drift resolved (Choose A, user-approved): spec listed 5 call
sites + +00:00 regex; on-disk reality at batch start is 3 sites +
Z-suffix matching every existing helper and the FDR _TS fixture.
Spec preamble + AC-2 regex updated in the task file; documented in
batch_48_cycle1_report.md.
Tests: 9 new AC tests (AC-1..AC-7 + Layer-1 invariant +
public-surface defensive); 216 focused tests pass including the
unmodified AZ-272 FDR schema suite and AZ-270 / AZ-507 layering
lints. Verdict: PASS (no findings).
Co-authored-by: Cursor <cursoragent@cursor.com>
UltraVPR is the Documentary Lead's PRIMARY backbone per
description.md § 1 and is wired by default
(config.c2_vpr.strategy = "ultra_vpr"). Runs on the C7 TensorRT
runtime (AZ-298) or ONNX-Runtime fallback (AZ-299); explicitly NOT
on the PyTorch FP16 runtime so a TRT engine compile bug can fall
back to NetVLAD without simultaneously breaking both strategies.
Production changes:
- c2_vpr/ultra_vpr.py - UltraVprStrategy + module-level create()
factory. embed_query pipeline: preprocess -> runtime.infer ->
single-stage L2 -> VprQuery. retrieve_topk delegates one-line to
FaissBridge. Engine load + output-shape assertion happen at
create() time (AC-6) so misconfiguration surfaces at startup,
not 17 minutes into a flight. UltraVPR has D=512 fixed (NOT a
config knob; AC-5 / AC-6 / AC-7 all assume 512). Single-stage L2
(no intra-cluster step like NetVLAD; spy-test enforces this so a
future refactor cannot silently regress recall).
- c2_vpr/_preprocessor_ultra_vpr.py - centre-crop using the camera
calibration's principal point (cx, cy from intrinsics_3x3),
falling back to geometric centre + WARN log when calibration is
absent (AC-9). Resize -> (384, 384) -> ImageNet mean/std ->
FP16 NCHW.
- No composition-root changes: UltraVPR consumes a pre-compiled
.trt engine (no PyTorch nn.Module), so the strategy module does
NOT expose MODEL_NAME / architecture_factory. The composition-
root _register_strategy_architecture helper no-ops cleanly for
this case (verified by test_create_does_not_register_pytorch_architecture).
Tests:
- tests/unit/c2_vpr/test_ultra_vpr.py - 29 tests covering all 12
ACs + preprocessor contract + constructor validation + FDR
record emission + single-stage L2 enforcement.
Full unit suite: 1637 passed / 80 env-skipped (+29 new tests).
Per-batch code review (batch_47_review.md): PASS_WITH_WARNINGS
(3 Low-severity findings; no Critical / High / Medium):
- F1: _iso_ts_from_clock is now the 7th copy (AZ-508 will close).
- F2: AZ-337 spec uses outdated C7 API names; affects upcoming
AZ-339 / AZ-340. Spec-hygiene PBI recommended.
- F3: principal-point fallback uses (0, 0) zero-detection for
missing calibration; safe but tightens when intrinsics become
Optional.
Architectural notes:
- AZ-507 layering clean. Imports only InferenceRuntimeCut,
DescriptorIndexCut, c2_vpr internals, _types, helpers,
clock, fdr_client. Architecture lint test passes.
- Pattern parity with NetVLAD (B46) where semantics permit;
UltraVPR-specific paths (single-stage L2, 'embedding' output
key, TRT runtime, no architecture registry, principal-point
crop) are clearly localised.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh