2 Commits

Author	SHA1	Message	Date
Oleksandr Bezdieniezhnykh	33486588de	[AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin ... E-CC-HELPERS closes with the three remaining Layer-1 helpers and E-CC-CONF closes with the env > YAML > defaults precedence test gate. All four tickets ship with frozen public surfaces, hermetic unit tests, and no upward (components.*) imports. * AZ-271 — tests/unit/shared/config/test_precedence.py (5 ACs + smoke test + helper that names the layer in failure messages). * AZ-282 — helpers/ransac_filter.py: static RansacFilter + RansacResult; cv2.setRNGSeed(0) for byte-equal determinism; median residual semantics pinned by contract. * AZ-276 — helpers/imu_preintegrator.py + make_imu_preintegrator; GTSAM PreintegratedCombinedMeasurements; strict-monotonic ts_ns guard runs before any state mutation. Adjacent hygiene: _types/nav.py ImuSample/ImuWindow now use ts_ns:int and the spec-mandated ImuBias dataclass. * AZ-278 — helpers/lightglue_runtime.py: structural R14 fix. LightGlueRuntime + non-blocking concurrent-access guard that raises rather than serialising. EngineHandle Protocol in _types/manifests.py + KeypointSet/CorrespondenceSet in _types/matching.py (Protocol surface adds approved by spec). Dependency conflict (Finding 1, user-approved): gtsam 4.2 (PyPI) is numpy-1.x-ABI only; opencv-python>=4.12 needs numpy>=2 at runtime. Resolution: opencv-python pin relaxed to >=4.11.0.86,<4.12. The D-CROSS-CVE-1 ratchet at ci/opencv_pin_gate.py is held at 4.11.0 with the original 4.12.0 floor restored once a numpy-2-compatible gtsam wheel ships. Full replay procedure in _docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md. Tests: 294 passed, 2 skipped (cmake/actionlint env-skips, pre-existing). 43 new tests added for batch 5. Ruff check + format clean. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-11 03:23:33 +03:00
Oleksandr Bezdieniezhnykh	b12db61444	[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests ... 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