Freezes the c1_vio Public API per
_docs/02_document/contracts/c1_vio/vio_strategy_protocol.md v1.0.0:
- VioStrategy Protocol (4 methods: process_frame, reset_to_warm_start,
health_snapshot, current_strategy_label) in
components/c1_vio/interface.py.
- DTOs (VioOutput, VioHealth, FeatureQuality, WarmStartPose) + VioState
enum in _types/nav.py — L1 placement so C5 + C13 consume them without
crossing the components.* boundary (AZ-270 AC-6). The new VioOutput
shape (frame_id: str, relative_pose_T: gtsam.Pose3,
pose_covariance_6x6, imu_bias, feature_quality, emitted_at_ns)
replaces the AZ-263 scaffolding in _types/vio.py, which is now
deleted.
- VioError family (VioInitializingError / VioDegradedError /
VioFatalError) in components/c1_vio/errors.py. Documented
rationale: the degraded-operation path returns a VioOutput with
inflated covariance + VioHealth.state=DEGRADED rather than raising
VioDegradedError — the error type exists only for the rare
degraded->fatal transition.
- C1VioConfig per-component config block (strategy enum,
lost_frame_threshold default 9, warm_start_max_frames default 5)
with constructor-time validation rejecting unknown strategy labels.
- StrategyNotAvailableError added to runtime_root/errors.py;
composition-time error distinct from the VioError family.
- Composition-root factory build_vio_strategy in
runtime_root/vio_factory.py with three BUILD_* gates (BUILD_OKVIS2,
BUILD_VINS_MONO, BUILD_KLT_RANSAC). Concrete strategy modules are
imported lazily via __import__ AFTER the flag check — Tier-0
workstation builds with the flag OFF MUST NOT load the strategy
module (Risk-2 / I-5; verifiable via sys.modules).
- 36 conformance tests cover all 9 ACs + NFR-perf-factory
(p99 build under 200 ms x 1000 calls) + NFR-reliability-error-family.
AC-8 introspects the contract file's Shape table and asserts method
parity against the runtime Protocol; AC-9 asserts the frame_id
annotation is 'str' (PEP-563 stringified).
C5 migration (consumers of the new VioOutput shape):
- gtsam_isam2_estimator.py + eskf_baseline.py: replaced
vio.timestamp -> vio.emitted_at_ns (drops _datetime_to_ns on the
VIO path), vio.pose_se3 -> vio.relative_pose_T (gtsam.Pose3 direct;
drops _pose_se3_to_gtsam / _pose_se3_to_array), vio.covariance_6x6
-> vio.pose_covariance_6x6 (rename).
- key_for_frame signature widened to UUID | int | str to accept the
new str frame_id.
- 4 C5 test files migrated to the new VioOutput shape with helper
fixtures producing ImuBias + FeatureQuality + str frame_id.
- c5_state/interface.py TYPE_CHECKING import path updated.
Bootstrap healthcheck + test_types_importable updated to drop the
deleted _types/vio module and pick up _types/inference (AZ-297) in
the same sweep.
Full unit-test sweep: 884 passed, 2 pre-existing environment skips
(cmake, actionlint).
Co-authored-by: Cursor <cursoragent@cursor.com>
Freezes the c6_tile_cache Public API per
_docs/02_document/contracts/c6_tile_cache/{tile_store,tile_metadata_store,
descriptor_index}.md v1.0.0:
- Three runtime_checkable Protocols (TileStore 4-method, TileMetadataStore
9-method, DescriptorIndex 5-method) in components/c6_tile_cache/interface.py.
- Frozen DTOs + enums (TileId, TileMetadata, TileMetadataPersistent,
TileQualityMetadata, Bbox, SectorBoundary, HnswParams, IndexMetadata,
TileSource, FreshnessLabel, VotingStatus, SectorClassification) in
components/c6_tile_cache/_types.py. Constructor-time validation rejects
out-of-range zoom_level / lat / lon and inverted Bbox.
- TilePixelHandle ABC for read-only mmap access (Invariant I-4).
- TileCacheError family (6 subtypes) + IndexBuildError (deliberately
outside the family) in components/c6_tile_cache/errors.py.
- C6TileCacheConfig per-component config block, registered on package
import; validates known runtime labels at construction time.
- Composition-root factories build_tile_store / build_tile_metadata_store /
build_descriptor_index in runtime_root/storage_factory.py, with lazy
concrete-impl imports gated by BUILD_FAISS_INDEX (AC-5 / Risk 2:
no module-level FAISS import when the flag is OFF).
- RuntimeNotAvailableError defined in runtime_root/errors.py to be shared
with AZ-297 (composition-time error, distinct from per-component
runtime errors).
51 conformance tests cover all 10 ACs + NFR-perf-factory (p99 build_*
under 50 ms across 1000 calls) + NFR-reliability-error-family. AC-9
introspects each contract file's Shape table and asserts method
parity against the runtime Protocol.
Retired the AZ-263 scaffolding SectorClassification (dataclass) and
TileQualityMetadata from _types/tile.py since their canonical home is
now c6_tile_cache._types; Tile and TileRecord remain in _types/tile.py
until c3_matcher (AZ-344) and c11_tile_manager (AZ-316/319) retire
their interface stubs.
Full unit-test sweep: 791 passed, 2 pre-existing environment skips.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh