 Oleksandr Bezdieniezhnykh
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823c0f1b2e
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[AZ-398] Replay: FrameSource + Clock Protocols + Clock injection
Ship the two Layer-1 cross-cutting Protocols replay mode needs to leave
production C1-C5 components mode-agnostic (Invariant 1) and replay-
deterministic (Invariant 2). Live + replay binaries see the same
interfaces; only the strategy differs.
* Clock Protocol (monotonic_ns / time_ns / sleep_until_ns) +
WallClock (live + REALTIME replay) + TlogDerivedClock (ASAP replay;
advance-on-call; non-monotonic source → ClockOrderingError).
* FrameSource Protocol (next_frame -> NavCameraFrame | None / close)
+ LiveCameraFrameSource (cv2.VideoCapture device index) +
VideoFileFrameSource (cv2.VideoCapture file).
* Build-flag gating: BUILD_VIDEO_FILE_FRAME_SOURCE,
BUILD_LIVE_CAMERA_FRAME_SOURCE (constructor-time check; Tier-0 OFF
refuses construction with FrameSourceConfigError).
* Composition-root factories: build_clock + build_frame_source.
* Injected Clock across every component that previously called
time.monotonic_ns() / time.sleep() directly: c5_state (estimator,
ESKF, fallback watcher, source-label SM, isam2 handle), c8_fc_adapter
(inbound MAVLink + MSP2, AP outbound, iNav outbound, QGC GCS),
c13_fdr writer, c12_operator_tooling httpx flights client. All
constructors default to WallClock() so existing call sites keep
live-binary behaviour without a wiring change.
* AC-4 CI guard (tests/_meta/test_no_direct_time_in_components.py)
AST-scans components/**/*.py for direct time.monotonic_ns /
time.time_ns / time.sleep references and fails loudly with file:line.
* Conformance + factory tests: tests/unit/clock + tests/unit/frame_source.
* Test fixture updates: FallbackWatcher / SourceLabelStateMachine
clock_ns is now required (removed time.monotonic_ns default);
test_az388 patches estimator._clock instead of a module-level time;
test_az393 ardupilot adapter uses a _FixedClock test double.
Excluded per the task spec: TlogReplayFcAdapter (AZ-399), ReplaySink
(AZ-400), compose_replay (AZ-401), CLI (AZ-402), Docker/CI (AZ-403),
E2E fixture (AZ-404), IMU auto-sync (AZ-405).
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-12 05:10:01 +03:00 |
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Oleksandr Bezdieniezhnykh
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b12db61444
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[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests
Implements the AZ-263 / E-BOOT initial structure task:
- Python src/-layout package `gps_denied_onboard/` with per-component
interface stubs (14 components), type-only DTOs under `_types/`,
shared helpers under `helpers/` (R14 LightGlue ownership), structured
JSON logging, runtime composition root with env-var fail-fast gate,
healthcheck module shared by Docker and CI smoke.
- CMake top-level + `cmake/{build_options,dependencies,strategies}.cmake`
with the BUILD_* per-binary flags (ADR-002) and pinned external git
refs for OKVIS2 / VINS-Mono / GTSAM / FAISS / OpenCV >=4.12.0.
- Three Dockerfiles (companion-tier1, operator-tooling,
mock-suite-sat-service) + two compose files (dev + Tier-1 test).
- Four GitHub Actions workflows: ci.yml (lint/unit/integration/dual
binary build/SBOM diff/security), ci-tier2.yml (self-hosted Jetson
AC-bound NFTs), release.yml, cve-rescan.yml.
- Two CI gate scripts: `ci/sbom_diff.py` (deployment SBOM subset +
R02 exclusion), `ci/opencv_pin_gate.py` (>=4.12.0 enforcement,
D-CROSS-CVE-1).
- Alembic-driven Postgres 16 initial migration `0001_initial.py`
mirroring satellite-provider tiles + flights + sector_classifications
+ manifests + engine_cache_entries (data_model.md s 2).
- Tier-1 test scaffolding: 95 passing unit tests covering every AC,
per-component smoke tests, structured logging JSON output check,
env-var gate check, healthcheck import check. Two CI-gated tests
(cmake configure, actionlint) skip locally with explicit reasons.
- Batch report + code review report under `_docs/03_implementation/`.
Verdict: PASS_WITH_WARNINGS (two Low findings, both informational).
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-11 01:00:28 +03:00 |
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