Re-design replay mode per user direction: replay is no longer a fourth
Docker image with a reduced component set, but a `config.mode = "replay"`
branch of the single airborne binary. The pre-flight workflow (route in
suite UI -> C12 tile download via real satellite-provider -> C10
manifest+engines build) is identical between live and replay; only three
strategies swap at compose time:
FrameSource: Live <-> Video
FcAdapter: Pymavlink/MSP2 <-> TlogReplay
MavlinkTransport: Serial <-> Noop
The C8 outbound MAVLink encoders run unchanged in both modes; their
bytes hit `NoopMavlinkTransport` in replay and disappear. A new
`JsonlReplaySink` taps C5's `EstimatorOutput` stream so the parent-suite
UI sees per-tick coordinates by tailing `results.jsonl`. MAVLink 2.0
signing key remains mandatory (operator supplies a dummy file).
A new `replay_input/` Layer-4 cross-cutting coordinator owns
`(video, tlog) -> (FrameSource, FcAdapter, Clock)` convergence; the
composition root sees only standard interfaces past `.open()`.
Docs:
- architecture.md: new ADR-011 with full rationale; ADR-002 binary
narrative updated.
- contracts/replay/replay_protocol.md: bumped to v2.0.0; 12 invariants
(notably mode-agnosticism + encoder byte-equality + signing key
mandatory + real C6 cache in replay).
- module-layout.md: Build-Time Exclusion Map dropped from 4 to 3 binary
columns; replay-mode `BUILD_*` flags default ON in airborne;
`shared/replay_input` cross-cutting entry added.
- epics.md: E-DEMO-REPLAY scope reframed; story points 27-32 -> 19-24.
Task respecs:
- AZ-401: shrunk 3 -> 2 pts; `compose_root` mode branch + JSONL sink +
NoopMavlinkTransport wiring; legacy `compose_replay` export deleted.
- AZ-402: console-script wrapper that mutates `config.mode = "replay"`
and dispatches into the shared airborne main; `--mavlink-signing-key`
mandatory.
- AZ-403: CANCELLED. Moved to done/ with banner; Jira transition deferred
via `_docs/_process_leftovers/2026-05-14_az_403_cancellation_pending_tracker.md`.
- AZ-404: AC-4 reworded as mode-agnosticism AST scan + encoder
byte-equality test; new AC-8 operator-workflow rehearsal.
- AZ-405: also owns the `replay_input/` module + `ReplayInputAdapter`.
_dependencies_table.md updated: AZ-401 gains AZ-405 dep; AZ-404 drops
AZ-403 dep; AZ-403 row marked CANCELLED.
Co-authored-by: Cursor <cursoragent@cursor.com>
Follow-up to cumulative review batches 52-54 Finding F1. Creates the
local task-spec file under _docs/02_tasks/todo/ and adds the row to
_dependencies_table.md so Batch 55's implement-loop can pick AZ-528
up. Mirrors the AZ-527 precedent from the c2_vpr-side cumulative
review (49-51): cumulative review opens the Jira ticket + raises the
finding, the prep commit adds the spec, the next batch implements.
Sized at 3 points (1 helper module + 3 strategy edits + 1 test file
with AST-walk + import-grep regression guards). Marginally larger
than AZ-527's 2-point c2 consolidation because the c1 spine has both
module-level free functions AND mixin-shaped instance methods.
Jira: https://denyspopov.atlassian.net/browse/AZ-528
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 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>
Open two ~2-point hygiene PBIs surfaced by
_docs/03_implementation/cumulative_review_batches_31-33_cycle1_report.md:
- AZ-507 (parent AZ-246 / E-CC-CONF) — align module-layout.md
cross-component import rules with the AZ-270 lint test. Resolves the
doc-vs-lint contradiction surfaced on AZ-321 by tightening the doc
(option (a) from the review) + hoisting EngineBuildError /
CalibrationCacheError to _types/inference_errors.py.
- AZ-508 (parent AZ-264 / E-CC-HELPERS) — consolidate 5 identical
_iso_ts_now() one-liners across c6_tile_cache + c7_inference into a
single Layer-1 helper at helpers/iso_timestamps.py.
Dependencies table headers bumped: 142 -> 144 tasks, 478 -> 482 points
(product 345 -> 349). State file's pause-point detail cleared; next
sub_step is the implement skill's Step 3 (compute next batch) for
batch 34.
Co-authored-by: Cursor <cursoragent@cursor.com>
Closes out greenfield Step 6 (Decompose) for all 14 components
(C1-C13 + cross-cutting helpers/replay). Covers tasks AZ-266..AZ-446
plus the _dependencies_table.md and component contract documents.
State file updated to greenfield Step 7 (Implement), not_started.
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.
Confirm the existing blackbox test task set is ready after product
remediation and advance autodev to test implementation.
Co-authored-by: Cursor <cursoragent@cursor.com>
- Refined task decomposition steps to ensure implementation tasks are atomic and complexity does not exceed 5 points.
- Enhanced the product implementation process with a completeness gate to verify task outcomes against architecture promises before proceeding to testing.
- Updated dependencies table to reflect new tasks and their relationships, ensuring all test tasks are linked to product remediation tasks.
- Adjusted workflow documentation to clarify entry points for task decomposition and implementation contexts.
Co-authored-by: Cursor <cursoragent@cursor.com>
Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh