5fe67023b2
[AZ-329] [AZ-330] [AZ-523] [AZ-524] Batch 44 atomic refactor
...
Implements two new C12 services and rebalances the C11/C12 boundary
in one atomic commit:
* AZ-329 PostLandingUploadOrchestrator — gates C11 upload on the
`flight_footer` FDR record's `clean_shutdown` field; 4 refusal
modes; new FdrFooterReader Protocol + LocalFdrFooterReader.
* AZ-330 OperatorReLocService — AC-3.4 visual-loss re-localization
hint; reuses shared LatLonAlt; OperatorCommandTransport Protocol
cut (E-C8 owns the future pymavlink concrete); new FDR record
kind `c12.reloc.requested`; log redaction (lat/lon 5 decimals,
reason 200 chars).
* AZ-523 C11 internal flight-state gate removed (SRP refactor):
`confirm_flight_state` / `FlightStateSignal` use /
`FlightStateNotOnGroundError` deleted from C11; TileUploader
contract bumped to v2.0.0 (frozen) with migration note; AZ-317
superseded.
* AZ-524 Package rename `c12_operator_tooling` →
`c12_operator_orchestrator` across source, tests, pyproject,
CMake, Dockerfile, compose, CI, runtime-root services class
(`OperatorOrchestratorServices`) + factory function
(`build_operator_orchestrator`), logger namespaces, config slug,
docs, and the E-C12 epic title.
Tests: 1543 passed, 80 skipped (all environment gates). Targeted
AC suite (AZ-329 + AZ-330 + FdrFooterReader): 37 passed. Cold-start
NFR-perf still ≤ 500 ms p99.
Tracker: AZ-317 → Done (superseded); AZ-319 v2.0.0 contract bump
comment; AZ-329/AZ-330 → In Testing; AZ-253 epic renamed; AZ-523
+ AZ-524 created and closed as audit-trail tickets.
See `_docs/03_implementation/batch_44_cycle1_report.md`.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-13 19:42:46 +03:00
65ad2168ed
[AZ-300] Implement PytorchFp16Runtime — C7 simple-baseline strategy
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AZ-300 mandatory simple-baseline InferenceRuntime (eager FP16 PyTorch).
Implements the AZ-297 Protocol; current_runtime_label returns
"pytorch_fp16". Numerical reference every fancier C7 strategy (AZ-298
TRT, AZ-299 ORT) is measured against, and the only viable runtime for
Tier-1 workstation Docker where TRT is non-trivial to install.
Production code (new):
- components/c7_inference/pytorch_fp16_runtime.py — runtime +
PytorchEngineHandle + output-shape adapter
- components/c7_inference/architecture_registry.py — torch-free
register_architecture / default_registry / ArchitectureFactory
(Risk-1 mitigation: no L2->L3 back-edge from C7 into per-backbone
code)
- components/c7_inference/__init__.py — re-exports the registry
mechanism. Still does NOT import the concrete strategy module
(Invariant I-5)
- components/c7_inference/config.py — adds per_frame_debug_log bool
field (gates the DEBUG per-frame latency log)
Tests (new): tests/unit/c7_inference/test_pytorch_fp16_runtime.py
covers AC-1..AC-8 + NFRs. AC-1/2/6/7 + thermal/release/registry
guards run unconditionally (17 tests); AC-3/4/5/8 +
NFR-perf-deserialize + NFR-reliability-eval-mode require CUDA and
skip on Tier-1 CI / macOS dev.
Tests (modified):
- test_protocol_conformance.py — narrowed
test_ac5_build_inference_runtime_flag_on_but_module_missing
parametrisation to exclude pytorch_fp16 (now-built); TRT / ORT
still covered until AZ-298 / AZ-299 ship.
CI: .github/workflows/ci.yml lint + unit jobs now install
'-e .[dev,inference]' because mypy + pytest need torch + torchvision +
onnxruntime on the runner.
Three task-spec -> as-built deltas documented in
_docs/02_tasks/done/AZ-300_c7_pytorch_baseline.md Implementation Notes:
1. Constructor conforms to AZ-297 factory shape (config positional;
thermal_publisher + registry + clock keyword-only optionals).
AZ-302 will update the factory to thread thermal_publisher.
2. Architecture registry uses extras["model_name"] as lookup key
(avoids touching the frozen BuildConfig / EngineCacheEntry DTOs).
3. Warm-up forward deferred to AZ-300 tier-2 follow-up — the zero-arg
registry has no per-backbone input-shape metadata.
Suite: 1120 passed / 10 skipped (CUDA + Tier-2 + cmake / actionlint
environment gates). No regressions in non-c7_inference areas.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-12 10:13:21 +03:00
1ebab29a4f
[AZ-332] C1 OKVIS2 Strategy: facade + binding skeleton
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Python facade (`Okvis2Strategy`) is production-quality and satisfies
AZ-331's `VioStrategy` protocol; full AC-1..10 coverage with
AC-9 + NFR-perf marked `tier2`. The C++ pybind11 binding compiles
and loads but throws `OkvisFatalException("estimator not yet wired")`
on first `add_frame` — the `okvis::ThreadedKFVio` wiring is a tier2
follow-up the Step-15 Product Completeness Gate is expected to track
as a remediation task.
Resolved contradictions:
* Constructor signature aligned with the AZ-331 factory: `(config, *,
fdr_client, clock=None)`. Calibration / preintegrator / logger
built internally from config. No churn on AZ-331.
* IMU substrate: OKVIS2 owns its internal estimator IMU integration;
the AZ-276 `ImuPreintegrator` is a separate substrate consumed by
E-C5's fusion graph. Single source of truth lives at the sample
stream, not the integrator instance.
* FDR API: `FdrClient.enqueue(record)` with new `vio.health` kind
added to AZ-272 `KNOWN_PAYLOAD_KEYS`.
CI matrix forces `-DBUILD_OKVIS2=OFF` until the tier2 wiring task
brings Ceres / SuiteSparse / OKVIS2 vendored submodules into the
Linux build.
Files: 17 added/modified across `c1_vio/`, `fdr_client/records.py`,
`cpp/okvis2/CMakeLists.txt`, CI workflow, AZ-332 task spec
(implementation-notes section), batch 23 report.
Tests: 17 new (15 tier1 + 2 tier2). Full Tier-1 suite: 1109 pass,
2 skipped (env), 2 deselected (tier2). No regressions.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-12 09:56:45 +03:00
b12db61444
[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests
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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 >
2026-05-11 01:00:28 +03:00
8382cdae10
start over again
2026-05-07 04:08:03 +03:00
79997e39ac
[AZ-219] Scaffold onboard runtime project
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Add the initial source, test, infrastructure, CI, configuration, and evidence-path scaffold so dependent implementation tasks have stable package and runtime boundaries.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-03 12:41:54 +03:00
5b1739186e
Update README to reflect changes in test infrastructure organization and task decomposition workflow. Remove obsolete E2E test templates and clarify input specifications for integration tests. Enhance documentation for planning and implementation phases, including new directory structures and task management processes.
2026-03-18 23:55:57 +02:00
Oleksandr Bezdieniezhnykh