Replace the placeholder operator_pre_flight_setup pytest fixture (the
mkdir stub at tests/e2e/replay/conftest.py:293-310) with a real driver
that wires C1 (AZ-836 RouteSpec) + C2 (AZ-838 SatelliteProviderRoute
Client) + C11 (AZ-316 HttpTileDownloader) + C10 (AZ-322 Descriptor
Batcher) end-to-end and yields a typed PopulatedC6Cache. AZ-306 FAISS
sidecar triple-consistency is verified post-rebuild via a caller-
supplied descriptor_index_factory; partial sidecars are cleaned up on
failure (AC-7) while pre-existing warm-cache files are preserved.
Algorithm lives in tests/e2e/replay/_operator_pre_flight.py with
pure dependency injection so the AC-8 unit suite (11 tests covering
happy / transient-retry / terminal-failure / validation-error /
tamper-detection / cleanup-on-failure) runs against stubs and the
AC-9 Tier-2 integration test runs the same algorithm against the
real Jetson harness. The conftest fixture skip-gates on RUN_REPLAY
_E2E + SATELLITE_PROVIDER_URL/API_KEY + BUILD_FAISS_INDEX +
GPS_DENIED_OPERATOR_CONFIG_PATH and wires deps through the existing
runtime_root factories. Supersedes AZ-777 Phase 3.
Co-authored-by: Cursor <cursoragent@cursor.com>
Phase 1 hotfix:
- C11 HttpTileDownloader adapted to satellite-provider v2.0.0
z/x/y inventory contract (bulk POST keyed by slippy-map coords).
- Unit tests rewritten to exercise the new inventory schema.
- E2E smoke test updated to match the v2.0.0 wire.
Phase 2 (Derkachi seed + smoke-validated on Jetson):
- tests/fixtures/derkachi_c6/{README,bbox.yaml,seed_region.py}
drives POST /api/satellite/region against satellite-provider
with Google Maps as the imagery source. Smoke run produced
4 regions, 175 tiles, inventory 32/32.
- scripts/mint_dev_jwt.py + run-tests-jetson.sh auto-mint and
export SATELLITE_PROVIDER_API_KEY using JWT_SECRET / JWT_ISSUER
/ JWT_AUDIENCE env vars (no host port mappings; e2e-runner
reaches SP via internal docker network only).
Spec amendment: AZ-777 todo spec updated to record the
Google Maps imagery source decision and STOP-gate state.
AZ-777 Phase 3+ work is superseded by Epic AZ-835 (see next
commit).
Co-authored-by: Cursor <cursoragent@cursor.com>
Adapt C11 HttpTileDownloader to the AZ-505 v1.0.0 tile-inventory
contract (POST /api/satellite/tiles/inventory + GET /tiles/{z}/{x}/{y})
and wire the Jetson e2e harness against the real parent-suite
satellite-provider service. Closes Phase 1 of 5 for AZ-777; STOP
gate before Phase 2 (Derkachi catalog seed).
C11 changes:
- _LIST_PATH / _GET_PATH replaced with _INVENTORY_PATH + _TILES_PATH.
- _do_enumerate enumerates bbox tile coords client-side and posts
chunked inventory requests (5000-entry cap per the contract).
- _download_one_tile parses tile_id_str into (z,x,y) and fetches
the slippy-map URL.
- Common GET / POST retry+auth ladder consolidated into _send_request.
- New module helpers: _enumerate_bbox_tile_coords,
_tile_center_latlon, _tile_size_meters_at, _format_tile_id_str,
_parse_tile_id_str, _chunk_iter.
- _DEFAULT_ESTIMATED_TILE_BYTES (50 KiB) replaces the inventory-side
estimatedBytes field the v1.0.0 contract dropped.
Tests:
- 14/14 unit tests in tests/unit/c11_tile_manager/test_tile_downloader.py
rewritten for the new POST inventory + slippy-map GET handler.
_StubTileWriter rekeyed by call-index (the downloader now derives
lat/lon from the slippy-map coord, so fixtures can't fabricate
arbitrary positions).
- New Tier-2 smoke at tests/e2e/satellite_provider/test_smoke.py:
validates inventory POST schema + drives HttpTileDownloader against
the real service. Gated by RUN_REPLAY_E2E=1 + tier2.
Compose / env:
- e2e-runner SATELLITE_PROVIDER_URL switched from mock-sat:5100 to
https://satellite-provider:8080; TLS_INSECURE + Bearer JWT env +
depends_on satellite-provider added.
- .env.test.example documents SATELLITE_PROVIDER_API_KEY + dev TLS
bypass security note.
- scripts/mint_dev_jwt.py mints HS256 dev JWTs from env / .env.test.
- pyjwt added to dev extras.
Tracker hygiene:
- AZ-777 row in _dependencies_table.md bumped 5pt -> 8pt to match
the 2026-05-21 override decision log.
Code review: PASS_WITH_WARNINGS (3 medium/low findings, all deferred
to later AZ-777 phases) -- see batch_104_review.md. Batch report at
batch_104_cycle3_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
New replay_api component: FastAPI service wrapping the offline
gps-denied-replay pipeline. POST tlog+video (multipart) → either
sync 200 with result/map/report URLs, or async 202 + job id with
/jobs/{id} polling. Magic-byte validation, bearer auth, in-memory
JobRegistry with concurrency + queue caps (429 on overflow).
Helper accuracy_report.py promoted from tests/ to src/ because the
API needs the Markdown report writer at runtime; all AZ-699 imports
re-pointed. OpenAPI spec exported to docs.
18/18 unit tests pass (AC-1 sync, AC-2 async, AC-3 state machine,
AC-5 auth, AC-6 health, AC-8 concurrency, AC-9 magic-byte). Full
unit suite: 2251 pass, 86 skip, 1 pre-existing C12 cold-start flake
(unchanged). mypy --strict clean on the new surface.
Co-authored-by: Cursor <cursoragent@cursor.com>
New e2e test runs gps-denied-replay --auto-trim against the real
derkachi.tlog + flight video + AZ-702 calibration, computes the
horizontal-error distribution (mean/p50/p95/p99 + 10/25/50/100 m
threshold-hit share), writes _docs/06_metrics/real_flight_
validation_{date}.md, and asserts honest PASS/FAIL with no @xfail
mask. AZ-404's 1-min test is untouched (sibling, not replacement).
Extends gps_compare.py with HorizontalErrorDistribution +
percentile_sorted (numpy-equivalent linear interpolation). New
test helper _report_writer.py renders the canonical Markdown
schema documented as FT-P-20 in blackbox-tests.md.
16 new unit tests pin distribution arithmetic, verdict gate,
failure-message templating (references calibration acquisition
method per AC-3), and report layout. 129 passed in focused
regression, 3 skipped (real video / Tier-2 prerequisites).
Zero new mypy --strict errors.
Co-authored-by: Cursor <cursoragent@cursor.com>
Batch 98 (cycle 2) — first two PBIs of epic AZ-696 (real-flight
validation harness):
AZ-697: direct binary-tlog GPS-truth extractor
- New src/gps_denied_onboard/replay_input/tlog_ground_truth.py reads
GLOBAL_POSITION_INT (with GPS_RAW_INT fallback) from a binary
ArduPilot tlog via pymavlink.mavutil and returns a frozen+slotted
TlogGroundTruth DTO with per-record ts_ns / lat_deg / lon_deg / alt_m
/ hdg_deg / vx_m_s / vy_m_s / vz_m_s.
- Promoted l2_horizontal_m + match_percentage + GroundTruthRow from
tests/e2e/replay/_helpers.py into the new production module
src/gps_denied_onboard/helpers/gps_compare.py. The e2e helper now
re-exports the same objects (identity, not copies) so existing test
imports continue working untouched.
- tests/e2e/replay/conftest.py prefers the real derkachi.tlog when
present, falls back to the CSV synth path otherwise.
- 22 new unit tests cover AC-1..AC-5 (mypy --strict subprocess test
included). All passing.
AZ-702: Topotek KHP20S30 factory-sheet camera calibration
- New _docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json:
fx = fy = 4644.444, cx = 960, cy = 540, HFOV ~ 23.3 deg, VFOV ~ 13.2
deg, computed from the published 8.5 mm focal length + 1/2.8" sensor
+ 1920x1080 capture at lowest zoom step. Distortion zeroed,
body_to_camera_se3 = identity with nadir convention. Acquisition
method explicitly recorded as factory_sheet so downstream code can
expect higher residual error than a lab calibration.
- _docs/00_problem/input_data/flight_derkachi/camera_info.md updated
to document the assumptions, expected residual error window, and
conftest pick-up rule.
- tests/e2e/replay/conftest.py::_calibration_path() prefers
khp20s30_factory.json when present, falls back to adti26.json.
- 9 new unit tests cover AC-1..AC-4 (schema, intrinsics traceback,
doc reference, conftest pick-up). All passing.
Test run: 45 new tests, all passing. Full-suite gate deferred to
Step 16 (after the last batch in cycle 2 per the implement skill).
Adjacent note (not fixed in this batch, recorded in the batch report):
auto_sync.py has the same redundant pymavlink type:ignore + a few
numpy/cv2 mypy --strict issues. None on this batch's path.
Refs: _docs/03_implementation/batch_98_cycle2_report.md
Refs: _docs/02_tasks/done/AZ-697_tlog_ground_truth_extractor.md
Refs: _docs/02_tasks/done/AZ-702_khp20s30_calibration.md
Co-authored-by: Cursor <cursoragent@cursor.com>
Mid-flight fixtures (Derkachi) and stationary-still scenarios
(FT-P-01) have no take-off spike for the IMU detector and produce
false-positive video motion onsets, so the AC-9 frame-window
validator rejects every plausible offset. Add an operator-acknowledged
opt-out: a new ReplayConfig.skip_auto_sync_validation flag that
suppresses validation, paired with a hard requirement that
time_offset_ms also be set (silent-zero guard at both schema and
adapter layers).
Wired through schema -> CLI (--skip-auto-sync) -> composition root
-> ReplayInputAdapter; Derkachi e2e fixture now passes
time_offset_ms=0 + skip_auto_sync=True by default since the synth
tlog and the video share the same t=0 anchor by construction.
5 new unit tests:
* schema gate rejects skip=True without manual offset
* schema gate accepts the legal pair
* default field value is False (default-construction safety)
* adapter constructor mirrors the schema gate
* adapter open() bypasses validate_offset_or_fail when flag is set
All 38 unit tests in test_az401 + test_az405 pass on Mac.
Co-authored-by: Cursor <cursoragent@cursor.com>
The Derkachi auto-sync coordinator compares absolute tlog timestamps
(from pymavlink's 8-byte record header) against absolute video
timestamps (CAP_PROP_POS_MSEC, which starts at 0). Anchoring the
synthetic tlog at 1_700_000_000_000_000 us (2023-11-14) produced a
~53-year offset (offset_ms=1699999995666) that always tripped the
AC-9 frame-window match validator at 0% match.
Setting the base to 0 puts the tlog on the same axis as the video
(and matches the CSV's `Time` column, which is seconds since row 0
per `_docs/00_problem/input_data/flight_derkachi/README.md`: "the
video and telemetry align at exactly three video frames per
telemetry row").
Verified on Colima with GPS_DENIED_TIER=2: the offset reported by
the auto-sync coordinator drops from 1699999995666 ms to -4334 ms.
The remaining 4.3 s offset is NOT a synth issue — it's the tlog
take-off detector (no signal in the steady-cruise CSV → defaults to
samples.accel[0][0] == 0) vs the video motion-onset detector (which
fires on a scenery-contrast false positive at ~4.3 s). The synth
cannot fabricate a take-off spike at the right time without knowing
the video motion-onset moment a priori, and the README confirms the
fixture is mid-flight footage with no take-off in either signal.
Resolving the remaining 4.3 s mismatch requires SUT-side work to
honor the documented "manual offset bypasses auto-sync" contract —
that's the scope of AZ-611. Filed as a known limitation in the
commit message; AC-1..AC-6 still red until AZ-611 lands.
Co-authored-by: Cursor <cursoragent@cursor.com>
Three discoveries from on-Jetson build (image builds clean in ~3m18s
after fixes; gtsam-4.3a0, torch 2.4.0+cuda, cv2 4.11.0 all import OK
inside container running --runtime=nvidia):
1. dustynv/l4t-pytorch's /etc/pip.conf bakes in a local Jetson mirror
(jetson.webredirect.org) that's only reachable from the maintainer
LAN. pip's DNS lookup fails everywhere else. Wipe the config and
pin --index-url to upstream PyPI.
2. The image ships pip 24.2. The SUT's `gtsam<5.0,>=4.2` constraint
matches ONLY gtsam-4.3a0 on PyPI (no stable aarch64 wheels), and
pip 24.x rejects pre-releases unless --pre is set. The Colima
image lands on the same wheel because its pip 26.x has explicit
fallback-to-pre-release logic. Bump pip before installing the SUT
to align resolver behavior across both harnesses.
3. Skip the [inference] extra entirely — the base image ships
Tegra-tuned torch / torchvision that re-pip would clobber with
x86 builds lacking cuDNN/cuBLAS for Orin.
Co-authored-by: Cursor <cursoragent@cursor.com>
Operator-reported: `nvcr.io/nvidia/l4t-base:r36.4.0` fails to pull.
Investigation against the live registries confirmed:
* `nvcr.io/nvidia/l4t-base` — deprecated in JetPack 6, no r36 tags
(forum thread "L4T Base docker image for Jetpack 6.2 (r36.4.3)",
GitHub dusty-nv/jetson-containers#883).
* `nvcr.io/nvidia/l4t-pytorch` — no r36 tags at all. Newest is
r35.2.1-pth2.0-py3 (too old for our torch>=2.2 floor).
* `nvcr.io/nvidia/l4t-jetpack:r36.4.0` — exists but ships no PyTorch.
* `dustynv/l4t-pytorch:r36.4.0` (Docker Hub) — exists, ~6.3 GB ARM64,
PyTorch + torchvision + opencv pre-baked, maintained by dusty-nv
(NVIDIA's Jetson containers maintainer).
Switched Dockerfile.jetson base to `dustynv/l4t-pytorch:r36.4.0`.
Forward-compatible with the host's R36.5 BSP (NVIDIA containers
tolerate one minor BSP ahead on the host side).
Setup doc fixes:
* smoke-test command now uses `l4t-jetpack:r36.4.0` (the official
replacement for the deprecated `l4t-base`)
* keygen step explicitly states it produces BOTH halves (private +
.pub) in one go
* ssh-copy-id + ssh config show how to specify a custom port
* troubleshooting table gets a new row for the `l4t-base not found`
case so the next dev hits the answer in 30 seconds
Co-authored-by: Cursor <cursoragent@cursor.com>
C7 inference (PytorchFp16Runtime / TensorRTRuntime / OnnxTrtEpRuntime)
is CUDA-only by design — `model.half().cuda()` is hard-wired with no
CPU fallback. The Colima/Tier-1 smoke harness can never exercise C3
matcher or C7 inference. Once AZ-614 fixes the tlog time-base mismatch
and the pipeline reaches those stages, Colima runs would hard-fail at
`.cuda()` instead of cleanly skipping.
This commit lays down the Jetson companion harness and wires the
existing `tier2` auto-skip:
* tests/e2e/Dockerfile.jetson — l4t-pytorch:r36.4.0-pth2.3-py3 base,
same /opt layout as the Colima image so AC-4 AST scan + bind mounts
work identically. Built ON the Jetson via run-tests-jetson.sh.
* docker-compose.test.jetson.yml — mirrors docker-compose.test.yml
but with `runtime: nvidia`, GPU device exposure, and
GPS_DENIED_TIER=2 (turns OFF the tier2 auto-skip).
* scripts/run-tests-jetson.sh — rsync → ssh build → ssh up,
exit-code-from e2e-runner so the local exit code reflects the
remote test verdict. No credentials in the repo; uses
`ssh jetson-e2e` alias resolved via ~/.ssh/config.
* _docs/03_implementation/jetson_harness_setup.md — one-time SSH
key + alias + sshd hardening + GPU verification steps. Documents
the smoke vs. Reality Gate split + the GPS_DENIED_TIER switch.
AZ-617 (mark heavy ACs with tier2): adds @pytest.mark.tier2 to AC-1,
AC-2, AC-3, AC-5, AC-6 in tests/e2e/replay/test_derkachi_1min.py.
Reuses the existing tier2 marker + auto-skip in tests/conftest.py
(scope revision documented as a comment on AZ-617). AC-4a/4b/AC-7/AC-9
stay unmarked — they don't touch CUDA.
Defers to follow-up Jira:
* AZ-614 — Derkachi tlog synth time-base mismatch (unblocks tier2 ACs
actually reaching the GPU stage on the Jetson)
* AZ-616 — replace mock-sat with real ../satellite-provider service
Not run yet: the harness needs operator-side SSH setup to come online
before scripts/run-tests-jetson.sh can be executed end-to-end. Setup
steps documented in jetson_harness_setup.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Multi-stage Ubuntu 22.04 e2e-runner image installs gps-denied-onboard
(editable) into /opt/venv so the AZ-404 replay tests can subprocess
gps-denied-replay against the Derkachi fixture. Image layout mirrors
the host repo (/opt/pyproject.toml + /opt/src + /opt/tests bind mount)
so Path(__file__).parents[3] resolves to /opt and AC-4's AST scan
finds the components dir.
Entrypoint now runs `pytest /opt/tests/e2e/` instead of the empty
`scenarios/` dir. The bootstrap harness collects 24 tests vs. 0 before.
Compose: e2e-runner env mirrors the companion service (FullSystemConfig
requirements) plus RUN_REPLAY_E2E=1, BUILD_REPLAY_SINK_JSONL=ON;
bind-mounts the Derkachi fixture dir; adds writable fdr-data /
tile-data volumes the SUT requires.
Reality Gate signal is now real: 17 pass / 5 fail / 1 skip / 1 xfail.
The 5 heavy-AC failures share root cause AZ-614 (tlog synth time-base
mismatch, surfaced by the now-functional harness).
Also archives the replayed leftover entries (csv_reporter -> AZ-601,
harness rehab -> AZ-602 epic + 11 child stories).
Co-authored-by: Cursor <cursoragent@cursor.com>
All FC adapter outbound MAVLink bytes now go through the AZ-401
MavlinkTransport seam (NoopMavlinkTransport in replay,
SerialMavlinkTransport in live). New helpers in
_outbound_mavlink_payloads.py extract encode/pack/seq-bump so the four
AP _send sites and the iNav statustext _send site become
encode -> pack -> transport.write. TlogReplayFcAdapter emits real
AP-shape MAVLink bytes through the injected NoopMavlinkTransport,
satisfying replay protocol Invariant 5 and unblocking AZ-401 AC-9.
Closes AZ-558. Also unskips AZ-401 AC-9 and AZ-404 AC-4b. Live wire
output remains byte-identical (proven via two-instance MAVLink
byte-equivalence tests). AST scan asserts no .mav.<name>_send( calls
remain in the retrofit set (AP / iNav / tlog adapters).
Out of scope (logged in review): GCS adapter retrofit; airborne live
strategy registration that would activate the SerialMavlinkTransport
factory injection path.
Tests: 2110 passed, 92 environmental skips, 1 unrelated pre-existing
macOS cold-start flake deselected.
Co-authored-by: Cursor <cursoragent@cursor.com>
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>
Oleksandr Bezdieniezhnykh