48281db9e9
[AZ-381] Fix ISam2GraphHandleImpl missing get_pose_key + comments
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F1 (High/Architecture) from cumulative review of batches 01-22:
`ISam2GraphHandleImpl` did not satisfy C4's `ISam2GraphHandle`
Protocol stub (AZ-355) because it lacked `get_pose_key`.
`pose_factory`'s isinstance gate would have raised at composition.
Two Protocols (C4 minimal consumer cut, C5 richer producer surface)
are intentional per AZ-355 Risk 1 — the impl just needed to expose
the canonical name. Delegates to estimator.key_for_frame.
Added cross-component conformance test asserting the C5 impl
satisfies both Protocols, so future drift trips a unit test.
F2 (Medium/Maintainability): added justifying comments at four
`except: pass` sites in runtime_root, c8_fc_adapter (ap + inav),
and c13_fdr writer. No behavioral change.
Updated cumulative review report verdict from FAIL to PASS and
recorded a post-mortem on the initial misframing
(treated the dual-Protocol design as duplication on first read).
Autodev state: batch 22 done, cumulative-review PASS,
ready for batch 23.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-12 03:55:41 +03:00
72a06edab0
[AZ-489] C12 FlightsApiClient + offline JSON loader + bbox helper
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ADR-010 primary cold-start path now has a real source for the cache bbox
and the takeoff origin. Single concrete strategy (`HttpxFlightsApiClient`)
behind a `@runtime_checkable` Protocol; offline JSON fallback (`load_flight_file`)
shares the same DTO shape per FAC-INV-1.
* `flights_api/interface.py` — `FlightsApiClient` Protocol + `FlightDto`
+ `WaypointDto` + `WaypointObjective` / `WaypointSource` enums (plain
frozen-slotted dataclasses, matching project's LatLonAlt / PoseEstimate
pattern).
* `flights_api/errors.py` — 8-class hierarchy under `FlightsApiError`.
* `flights_api/_parser.py` — shared JSON validator: range checks, lat/lon
bounds, contiguous ordinals, finite floats, enum membership.
* `flights_api/bbox.py` — `bbox_from_waypoints` envelopes lat/lon and
inflates by a horizontal-distance buffer via WgsConverter ENU
round-trip (NOT degree-space); `takeoff_origin_from_flight` passes
waypoints[0] through unrounded.
* `flights_api/file_loader.py` — orjson-backed offline loader.
* `flights_api/httpx_client.py` — concrete client with ONE retry on
transient 5xx + connect errors; token redaction at every log site;
test-injectable transport + sleep.
* `runtime_root/c12_factory.py` — `build_flights_api_client(config)`;
re-exported from `runtime_root/__init__.py`. OperatorToolServices
aggregate intentionally deferred to AZ-328 per scope discipline.
* `pyproject.toml` — `httpx>=0.28,<1.0` added (chosen over `requests`
for native `MockTransport` testing).
Tests: 28 cases across AC-1..AC-18 plus extras (malformed JSON,
negative buffer, zero buffer, missing top-level fields, negative
ordinal, empty-flight takeoff). Full repo run: 713 passed, 2 skipped.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-12 01:28:49 +03:00
db27e25630
[AZ-355] C4 PoseEstimator Protocol + factory + DTOs + composition
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Land the foundational C4 surface AZ-358 (Marginals) and AZ-361
(Hybrid) build on top of:
- PoseEstimator Protocol (@runtime_checkable): estimate(...) +
current_covariance_mode().
- Error hierarchy: PoseEstimatorError, PnpFailureError,
PoseEstimatorConfigError; CovarianceDegradedWarning as a Warning
subclass (warnings.warn path, not raised).
- ISam2GraphHandle Protocol stub (READ-ONLY view, get_pose_key only)
decoupled from C5's concrete ISam2GraphHandleImpl.
- C4PoseConfig (frozen dataclass) + register on c4_pose import.
- runtime_root/pose_factory.build_pose_estimator with lazy-import
fallback; INFO log c4.pose.strategy_loaded; shares ingest-thread
binding with C5 per ADR-003.
DTO restructuring (cross-cutting): retire the legacy raw-4x4
PoseEstimate(int frame_id, datetime timestamp, pose_se3, ...) and
ship the contract shape PoseEstimate(UUID, LatLonAlt, Quat,
np.ndarray, CovarianceMode, PoseSourceLabel,
last_satellite_anchor_age_ms, emitted_at). C5 add_pose_anchor in
both gtsam_isam2 + eskf_baseline migrated in lockstep via
WGS84->ENU + Quat->R helpers; test fixtures updated. VIO output
stays on the raw shape until AZ-331 (C1 protocol) lands.
LatLonAlt upgraded to slots=True per AC-2. ThermalState stub added
to _types/thermal.py so the Protocol typechecks pre-AZ-302.
Tests: 25 new in tests/unit/c4_pose/test_az355_pose_protocol.py
covering AC-1..AC-10 + factory wiring + config validation; full
repo: 685 passed, 2 pre-existing CI-only skips.
Jira transition deferred: MCP "Not connected"; leftover entry in
_docs/_process_leftovers/2026-05-11_jira_transition_az355_deferred.md.
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-11 10:32:14 +03:00
beed43724f
[AZ-381] C5 StateEstimator protocol + factory + C8 DTO reshape
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- 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 >
2026-05-11 05:35:20 +03:00
8a9cf88a46
[AZ-396] [AZ-397] Batch 11: C8 source-set switch + QGC telemetry adapter
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AZ-396: PymavlinkArdupilotAdapter.request_source_set_switch body sends
MAV_CMD_SET_EKF_SOURCE_SET, awaits COMMAND_ACK with timeout, enforces
Invariant 11 idempotence (1s rate-limit + skip-after-success). Adds
runtime_root.SpoofRecoverySink to bridge C5 spoof-promotion-recovered
signal to the C8 outbound thread via a bounded dispatch queue.
FcConfig gains spoof_recovery_source_set + source_set_switch_timeout_ms.
AZ-397: QgcTelemetryAdapter implements GcsAdapter strategy: MAVLink 2.0
to QGC, emit_summary downsamples 5Hz to configurable summary_rate_hz
[0.5, 5.0] via integer modulo, emit_status_text mirrors to GCS link,
subscribe_operator_commands translates COMMAND_LONG / PARAM_REQUEST_*
/ REQUEST_DATA_STREAM / MISSION_* / SET_MODE into OperatorCommand DTOs
and audits each receipt to FDR. FcKind.GCS_QGC added for PortConfig.
Tests: 25 new (12 AZ-396 + 13 AZ-397); full suite 501 passing, 2 skipped.
Contracts unchanged (additive FcConfig fields, range relaxation on
GcsConfig.summary_rate_hz, additive FcKind enum value).
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-11 05:06:56 +03:00
362e93c626
[AZ-390] [AZ-392] C8 FC/GCS adapter foundation + covariance projector
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Adds the C8 foundation:
- FcAdapter / GcsAdapter / ReplaySink Protocols + contract DTOs in
_types/fc.py (PortConfig, FcKind, FlightState, GpsStatus, Severity,
TelemetryKind, FcTelemetryFrame, FlightStateSignal, GpsHealth,
OperatorCommand, Subscription, Imu/Attitude samples).
- Disjoint FcAdapterError / GcsAdapterError trees with
SourceSetSwitchNotSupportedError <: SourceSetSwitchError per AC-9.
- FcConfig + GcsConfig cross-cutting Config blocks with config-load
validation (unknown strategy rejected at __post_init__).
- runtime_root/fc_factory.py: build_fc_adapter / build_gcs_adapter
with BUILD_FC_*/BUILD_GCS_* flag gating + INFO log on load +
single-writer outbound-thread binding.
- CovarianceProjector (helper, AZ-392): 6x6 -> 3x3 -> 2x2 ->
sqrt(lambda_max) reduction; AP returns float m, iNav returns int mm
with uint16 clamp + WARN + FDR record. Non-SPD / NaN / wrong-shape
raise FcEmitError and emit an FDR ERROR record carrying frame_id.
Contracts:
- composition_root_protocol.md 1.1.0 -> 1.2.0 (added fc/gcs blocks +
build_fc_adapter / build_gcs_adapter + outbound-thread binding).
- fc_adapter_protocol.md unchanged (this batch implements v1.0.0).
Tests: 410 pass / 2 skip / 0 fail (+53 new tests in batch 8).
AZ-391 (inbound subscription) deferred to batch 9 — pulls YAMSPy as
a new external dependency (iNav MSP2 decode).
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-11 04:17:59 +03:00
Oleksandr Bezdieniezhnykh