 Oleksandr Bezdieniezhnykh
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beed43724f
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[AZ-381] C5 StateEstimator protocol + factory + C8 DTO reshape
- Add StateEstimator Protocol (6 methods, @runtime_checkable) + DTOs
(EstimatorOutput, EstimatorHealth, IsamState, PoseSourceLabel, Quat)
in _types/state.py per state_estimator_protocol.md v1.0.0.
- Add C5 error hierarchy (StateEstimatorError + 3 subclasses) and
C5StateConfig (strategy, keyframe_window, spoof gates,
no_estimate_fallback_s) with __post_init__ validation.
- Add ISam2GraphHandle Protocol + ISam2GraphHandleImpl skeleton (all
4 methods raise NotImplementedError naming AZ-382 as owner).
- Add build_state_estimator factory + bind_state_ingest_thread for
single-writer enforcement; ADR-002 build-flag gating
(BUILD_STATE_<variant>); INFO log on success.
- Strict reshape of legacy EstimatorOutput / EstimatorHealth across
all 6 C8 production files (_outbound_provenance,
_covariance_projector, pymavlink_ardupilot_adapter,
msp2_inav_adapter, mavlink_gcs_adapter, interface) + 6 C8 test
files (UUID frame_id, LatLonAlt position_wgs84, Quat orientation,
PoseSourceLabel enum source_label). Remove ad-hoc DTOs from
_types/pose.py and from C4's public __init__ (EstimatorOutput is a
C5 concept, not a C4 one).
- 20 AZ-381 AC tests (10 ACs + 4 config range + NFR + conformance).
- Full suite: 521 passed, 2 skipped (+20 vs Batch 11).
- Contracts: state_estimator_protocol.md v1.0.0 -> active;
composition_root_protocol.md v1.2.0 -> v1.3.0 (additive state
block + factory + ingest-thread binding).
- Impl report: _docs/03_implementation/batch_12_cycle1_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-11 05:35:20 +03:00 |
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