Appends a 2026-05-19 addendum to implementation_completeness_cycle1
acknowledging AZ-591, the AZ-618 umbrella (AZ-619..AZ-625), and AZ-687.
All landed since the 2026-05-16 verdict was written. Updated counts:
116 audited tasks (was 107) / 114 PASS / 0 FAIL / 4 BLOCKED-with-
Tier-2-handle (AZ-332->AZ-592, AZ-333->AZ-593, AZ-624 AC-5, AZ-687
AC-687-3 -- the last two share a single Jetson run artifact).
Gate verdict: Step 7 CLEARED to advance. Auto-chain -> Step 8 (Code
Testability Revision). Pending Tier-2 evidence files are tracked
inside the report addendum and rewind the flow only if the Deploy
gate (Step 16) rejects them.
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>
- Changed the autodev state to reflect the new phase and task name for remediation related to AZ-243.
- Updated the dependencies table to include the new task AZ-243 and adjusted dependencies for AZ-233.
- Added a section in the implementation completeness report to document the creation of the AZ-243 remediation task aimed at integrating the production native VIO runtime.
- Modified the Docker Compose configuration to include an input root for replay tests and added an environment variable for enabling SITL.
- Enhanced documentation for various testing processes, including the addition of a Runtime Completeness Decomposition Gate and clarifications on internal module testing requirements.
- Updated the implementation completeness report to reflect the current state and added new test cases for performance and resilience scenarios.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh