Three new VprStrategy implementations for IT-12 comparative-study
(research binary only, gated OFF for airborne / operator-tooling per
ADR-002). All run via the C7 TensorRT runtime (or ONNX-RT fallback)
with their own concrete BackbonePreprocessor, single-stage L2
normalisation, and FaissBridge-delegated retrieval — same pattern as
AZ-339 (MegaLoc + MixVPR), parametrised in tests for compactness.
* SelaVprStrategy — D=512, input 224x224
* EigenPlacesStrategy — D=2048, input 480x480
* SaladStrategy — D=8448, input 322x322 (DINOv2-Large backbone;
heaviest in the C2 family — NFR-perf budget
relaxed to 120 ms p95 / 1200 MB GPU per task
spec)
The composition-root factory tables and KNOWN_STRATEGIES set were
already pre-wired at AZ-336 land time; module-layout.md already names
all three Internal entries and BUILD_VPR_* rows. No CMake change
required (env-flag gating).
54 unit tests (3 strategies * 18 cases) cover AC-1..AC-11 plus extras
(single-stage L2, NCHW FP16, constructor validation, FDR emission).
All pass; sibling c2_vpr suite + composition-root regression + AZ-526
iso-ts regression all green.
Code review verdict: PASS_WITH_WARNINGS. Two Low findings logged in
batch_51_review.md: F1 escalates `_assert_engine_output_dim`
duplication from 4-way to 7-way (already tracked by AZ-527 hygiene
PBI; will surface in cumulative review batches 49-51); F2 mirrors the
AZ-337 / 338 / 339 AC-10 spec-drift precedent (literal
ConfigurationError vs implemented ConfigError / StrategyNotAvailable).
Co-authored-by: Cursor <cursoragent@cursor.com>
Adds two research-only VprStrategy implementations for the IT-12
comparative-study matrix. MegaLocStrategy (D=2048, 322x322) and
MixVprStrategy (D=4096, 320x320), both via C7 TensorRT FP16 with
their own concrete BackbonePreprocessor. Single-stage global L2
normalisation; retrieval delegated to FaissBridge; FDR records +
structured logs identical to UltraVPR. BUILD_VPR_MEGALOC and
BUILD_VPR_MIXVPR ON for research/replay-cli only, OFF for airborne
and operator-tooling (fail-fast at composition root via existing
AZ-336 factory). Uses helpers.iso_ts_from_clock from day 1 — no
new timestamp helper duplicates introduced.
36 parametrised AC tests + 25 protocol-conformance + 18 helper
regression tests pass; 1690 / 1690 unit tests pass (excluding 1
pre-existing flaky cold-start subprocess test in c12). Verdict:
PASS_WITH_WARNINGS — one Medium follow-on (AZ-527 to consolidate
4-way _assert_engine_output_dim) + one Low AC wording drift.
Co-authored-by: Cursor <cursoragent@cursor.com>
Closes cumulative review 46-48 F1 (Medium) + F3 (Low). Adds
iso_ts_from_clock(clock) alongside iso_ts_now() in the Layer-1
helper; migrates four duplicate definitions in c2_vpr (net_vlad,
ultra_vpr, _faiss_bridge) and c12_operator_orchestrator
(operator_reloc_service). Output format flipped +00:00 -> Z to
align with iso_ts_now() and the canonical FDR _TS fixture (FDR
schema test passes unmodified).
18 helper AC tests + 186 sibling tests pass; ruff clean.
Co-authored-by: Cursor <cursoragent@cursor.com>
Batch 48 / Cycle 1 (greenfield Step 7). Closes cumulative review
batches 31-33 F2 and 28-30 F3 by replacing the duplicated private
_iso_ts_now() one-liners with a single Layer-1 helper:
src/gps_denied_onboard/helpers/iso_timestamps.py
iso_ts_now() -> str
Output format matches the canonical FDR _TS fixture
(YYYY-MM-DDTHH:MM:SS.ffffffZ); no FDR schema change.
Migrated call-sites (3): c7_inference/onnx_trt_ep_runtime,
c7_inference/thermal_publisher, plus the 3 c6_tile_cache callers
that previously imported from the local c6_tile_cache/_timestamp
shim (now deleted, superseded by the Layer-1 helper).
Spec drift resolved (Choose A, user-approved): spec listed 5 call
sites + +00:00 regex; on-disk reality at batch start is 3 sites +
Z-suffix matching every existing helper and the FDR _TS fixture.
Spec preamble + AC-2 regex updated in the task file; documented in
batch_48_cycle1_report.md.
Tests: 9 new AC tests (AC-1..AC-7 + Layer-1 invariant +
public-surface defensive); 216 focused tests pass including the
unmodified AZ-272 FDR schema suite and AZ-270 / AZ-507 layering
lints. Verdict: PASS (no findings).
Co-authored-by: Cursor <cursoragent@cursor.com>
UltraVPR is the Documentary Lead's PRIMARY backbone per
description.md § 1 and is wired by default
(config.c2_vpr.strategy = "ultra_vpr"). Runs on the C7 TensorRT
runtime (AZ-298) or ONNX-Runtime fallback (AZ-299); explicitly NOT
on the PyTorch FP16 runtime so a TRT engine compile bug can fall
back to NetVLAD without simultaneously breaking both strategies.
Production changes:
- c2_vpr/ultra_vpr.py - UltraVprStrategy + module-level create()
factory. embed_query pipeline: preprocess -> runtime.infer ->
single-stage L2 -> VprQuery. retrieve_topk delegates one-line to
FaissBridge. Engine load + output-shape assertion happen at
create() time (AC-6) so misconfiguration surfaces at startup,
not 17 minutes into a flight. UltraVPR has D=512 fixed (NOT a
config knob; AC-5 / AC-6 / AC-7 all assume 512). Single-stage L2
(no intra-cluster step like NetVLAD; spy-test enforces this so a
future refactor cannot silently regress recall).
- c2_vpr/_preprocessor_ultra_vpr.py - centre-crop using the camera
calibration's principal point (cx, cy from intrinsics_3x3),
falling back to geometric centre + WARN log when calibration is
absent (AC-9). Resize -> (384, 384) -> ImageNet mean/std ->
FP16 NCHW.
- No composition-root changes: UltraVPR consumes a pre-compiled
.trt engine (no PyTorch nn.Module), so the strategy module does
NOT expose MODEL_NAME / architecture_factory. The composition-
root _register_strategy_architecture helper no-ops cleanly for
this case (verified by test_create_does_not_register_pytorch_architecture).
Tests:
- tests/unit/c2_vpr/test_ultra_vpr.py - 29 tests covering all 12
ACs + preprocessor contract + constructor validation + FDR
record emission + single-stage L2 enforcement.
Full unit suite: 1637 passed / 80 env-skipped (+29 new tests).
Per-batch code review (batch_47_review.md): PASS_WITH_WARNINGS
(3 Low-severity findings; no Critical / High / Medium):
- F1: _iso_ts_from_clock is now the 7th copy (AZ-508 will close).
- F2: AZ-337 spec uses outdated C7 API names; affects upcoming
AZ-339 / AZ-340. Spec-hygiene PBI recommended.
- F3: principal-point fallback uses (0, 0) zero-detection for
missing calibration; safe but tightens when intrinsics become
Optional.
Architectural notes:
- AZ-507 layering clean. Imports only InferenceRuntimeCut,
DescriptorIndexCut, c2_vpr internals, _types, helpers,
clock, fdr_client. Architecture lint test passes.
- Pattern parity with NetVLAD (B46) where semantics permit;
UltraVPR-specific paths (single-stage L2, 'embedding' output
key, TRT runtime, no architecture registry, principal-point
crop) are clearly localised.
Co-authored-by: Cursor <cursoragent@cursor.com>
PASS_WITH_WARNINGS verdict covering AZ-328 (BuildCacheOrchestrator),
AZ-329 (PostLandingUploadOrchestrator + FdrFooterReader), AZ-330
(OperatorReLocService), AZ-523/AZ-524 (C11 internal gate removal +
c12_operator_orchestrator rename), and AZ-341 (FaissBridge +
DescriptorIndexCut).
Four Low-severity findings, all hygiene or carry-over: F1 ISO
timestamp helper duplicated across 6 modules (AZ-508 hygiene PBI
exists), F2 IndexUnavailableError namespace duplication c2/c6
flagged for spec/docstring alignment, F3 AZ-341 spec lists unused
normaliser parameter, F4 carry-over cold-start microbench host-load
flake.
Full unit suite 1565 passed / 80 env-skipped at close of window.
No new layer-direction or AZ-507 violations introduced; three new
structural Protocol cuts (TileDownloaderCut, FdrFooterReader,
DescriptorIndexCut) all follow the same shape.
State file updated: last_cumulative_review batches_40-42 ->
batches_43-45.
Co-authored-by: Cursor <cursoragent@cursor.com>
Captures the architectural plan agreed in the prior /autodev session:
C12 package rename (c12_operator_tooling -> c12_operator_orchestrator),
C11 internal flight-state gate removal (SRP fix; supersedes AZ-317),
AZ-329 PostLandingUploadOrchestrator rewrite around flight_footer FDR
record, and AZ-330 OperatorReLocService implementation. Execution starts
in the next /autodev invocation; this commit makes the planning artifact
durable so the batch executes against a fixed plan.
Co-authored-by: Cursor <cursoragent@cursor.com>
Implements F1 pre-flight cache build orchestrator on the operator
workstation. Composes C11 TileDownloader (AZ-316), C12 CompanionBringup
(AZ-327), C12 FlightsApiClient (AZ-489), and the new
RemoteCacheProvisionerInvoker into one sequenced flow guarded by a
filelock-backed workstation-side lockfile.
Architectural decisions:
- Phase-0 flight-resolve runs BEFORE the lockfile (ADR-010): a flight
that cannot be resolved is an operator-input error, not a contended-
resource error. Enforced by AC-11 + AC-14.
- Consumer-side cuts (AZ-507) for C11 + C10 types: local Protocols /
mirror DTOs in tile_downloader_cut.py and _types.py; external errors
matched by name-based whitelisting so unknown exceptions still
propagate per AC-6. Cross-component type translation lives at the
composition root (c12_factory).
- Failure surfacing: recognised operational failures (download error,
companion not ready, build error, flight-resolve error) return as
CacheBuildReport(outcome=failure, failure_phase=...). Only lockfile
contention raises (BuildLockHeldError) since no phase ever ran.
- Workstation-side filelock library (project pin); no custom primitive.
- Remote C10 stdout streamed line-by-line as DEBUG with api_key /
auth_token redacted before logging (defence-in-depth).
- CLI is now a thin adapter; all workflow logic lives in
build_cache.py. operator-tool build-cache exit codes map per
CacheBuildReport.failure_phase + failure_exception_type.
Tests: 116 c12 unit tests pass (29 new for AZ-328 covering 15/15 ACs +
NFR-perf-overhead microbench; 7 new for remote_c10_invoker; 3 new for
file_lock; test_cli_build_cache rewritten for new orchestrator
interface). Full repo suite: 1522 passed, 80 skipped.
Also: replays Batch 42's ruff format leftover for c12 flights_api +
test_az489 files (formatter ran over the c12 directory after new
files were added). Pure whitespace; no behaviour change.
Full report: _docs/03_implementation/batch_43_cycle1_report.md
Co-authored-by: Cursor <cursoragent@cursor.com>
5 findings: F1 (Medium / Maintainability) - _iso_now copies grew to 8
across c11 + c13 + c7, AZ-508 hygiene PBI no longer matches reality;
F2-F5 (Low) - triplicated atomic-write JSON helpers, 4x duplicated
SectorClassification enum (acknowledged by ADR-009), recurring
"outcome=failure" prose vs typed-exception drift across the C11 trio,
and an NFR-perf-cold-start near-miss that prompted PEP 562 lazy-import
discipline in c12. None block the implement loop.
Updated _autodev_state.md last_cumulative_review to batches_40-42.
Co-authored-by: Cursor <cursoragent@cursor.com>
Wraps HttpTileUploader (AZ-319) with two bounded retry budgets:
- In-call (per-batch) — re-invokes inner on PARTIAL outcome up to
`max_in_call_retries` times with capped exponential backoff
(`min(base ** attempt_number, cap)`). On exhaustion: surfaces an
operator hint via `next_retry_at_s = now + backoff_cap_s`.
- Per-tile (cross-call) — atomically increments c6's
`tiles.upload_attempts` counter for every rejection; once a tile
hits `max_per_tile_attempts` it is forward-only transitioned to
`voting_status = upload_giveup` (excluded from `pending_uploads`).
Each transition emits FDR `kind="c11.upload.giveup"` plus an
ERROR log.
C6 contract changes (AZ-303 v1.3.0):
- VotingStatus.UPLOAD_GIVEUP added (forward-only from PENDING/TRUSTED).
- TileMetadataStore.increment_upload_attempts(tile_id) -> int added
with NotImplementedError default for backwards-compat.
- Migration 0003_c11_upload_attempts: additive column +
widened ck_tiles_voting_status (preserves IS NULL clause).
C11 wiring:
- C11RetryConfig + disable_retry_decorator on C11Config.
- build_tile_uploader wraps in decorator by default; bypass flag
returns the bare HttpTileUploader. New `clock` keyword.
Cross-component isolation honoured (AZ-507): the decorator declares
`_RetryMetadataStoreLike` Protocol cut over c6's TileMetadataStore
and references `UPLOAD_GIVEUP` via a local string constant — no c6
imports.
Tests: 13 decorator + 1 conformance + 2 factory bypass + AC-6 enum
update + alembic head bump + AZ-272 schema fixture. 238 passed across
c11/c6/fdr suites; pre-existing perf microbenches unrelated.
Code review: PASS_WITH_WARNINGS (5 Low/Informational findings,
docs-level or downstream-CI-blocked). See
_docs/03_implementation/reviews/batch_41_review.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
Captures the C11 operator-side trio landing (AZ-317/318/319) plus the
C10 build-orchestrator close-out (AZ-325) and the AZ-515 canonical-hash
extraction. Three Low findings, all documentation-level drift between
spec text and as-built code; none block Batch 40. Resolves prior F1
(AZ-515 closed the verifier-into-builder private import).
Co-authored-by: Cursor <cursoragent@cursor.com>
Lands the production HttpTileUploader composing AZ-317's gate, AZ-318's
per-flight signing, and consumer-side cuts over c6 storage. Implements
the full upload flow: gate ON_GROUND -> start_session -> enumerate
pending -> per-batch multipart POST with Ed25519 signing -> mark_uploaded
on ack -> end_session in finally. Honours Retry-After (RFC 7231 int +
HTTP-date), exponential backoff on 5xx, fail-fast on TLS/401/403.
Adds C11Config block, three FDR kinds (tile.queued, tile.rejected,
batch.complete), and the build_tile_uploader composition-root factory.
Cross-component access to c6 stays Protocol-cut (AZ-507 / AZ-270).
Tests: 17 new unit tests covering AC-1..AC-14 plus throughput NFR; AZ-272
schema fixtures for the three new FDR kinds. Full unit suite: 1404 passed.
Co-authored-by: Cursor <cursoragent@cursor.com>
Batch 38 (cycle 1) lands the two upload-side prerequisites the
upcoming AZ-319 TileUploader needs to authenticate per-flight
sessions against the parent suite's D-PROJ-2 ingest contract.
AZ-317 FlightStateGate:
- confirm_on_ground() defence-in-depth gate atop ADR-004 process
isolation; fail-closed for UNKNOWN, IN_FLIGHT, TAKING_OFF,
LANDING, and source-failure (mapped to UNKNOWN with original
exception preserved on __cause__).
- ERROR log on refusal, INFO log on pass, single source call per
invocation (no polling, no retry).
AZ-318 PerFlightKeyManager:
- Per-flight ephemeral Ed25519 keypair via the project-pinned
cryptography library; sign(payload) -> 64-byte Ed25519 signature.
- Best-effort zeroisation of a project-controlled bytearray mirror
on end_session; OpenSSL-side buffer freed via dropped reference.
- __del__ safety net with WARN log if end_session was missed.
- start_session emits FDR kind=c11.upload.session.key.public so the
safety officer can correlate flights with key fingerprints.
- record_signature_rejection emits FDR + ERROR log on parent-suite
ingest rejection (security-critical, never silently dropped).
Shared C11 plumbing:
- TileManagerError parent + 3 subclasses (FlightStateNotOnGroundError,
SessionNotActiveError, SignatureRejectedError envelope).
- FlightStateSignal (str, Enum) and PublicKeyFingerprint DTOs.
- FlightStateSource Protocol on c11_tile_manager.interface.
- runtime_root.c11_factory factories for both new services.
- Two new FDR kinds registered in fdr_client.records central
KNOWN_PAYLOAD_KEYS; AZ-272 schema-roundtrip fixtures added in
lockstep so the central test stays green.
Tests: 26 new + 2 fixture additions; full suite 1384 passed, 80
skipped (documented Docker / Tier-2 / CUDA gates).
Code review: PASS_WITH_WARNINGS — 2 Low findings documented in
_docs/03_implementation/reviews/batch_38_review.md (dev-host vs
operator-workstation perf bound; spec text named StrEnum but
project pins Python 3.10).
Co-authored-by: Cursor <cursoragent@cursor.com>
Implements the public top-level F1 build orchestrator for E-C10 per
contract v1.1.0. Composes EngineCompiler (AZ-321), DescriptorBatcher
(AZ-322), and ManifestBuilder (AZ-323) into a single idempotent
operation guarded by a fcntl-backed cache_root/.c10.lock and a
post-build coverage walk.
Adds:
- CacheProvisionerImpl + FilelockFileLockFactory (provisioner.py)
- BuildRequest/BuildReport/BuildOutcome/SectorClassification DTOs +
FileLockFactory Protocol + replaced placeholder CacheProvisioner
Protocol with v1.1.0 surface (interface.py)
- C10ProvisionerConfig wired into C10ProvisioningConfig (config.py)
- BuildLockHeldError + ManifestCoverageError (errors.py)
- build_cache_provisioner composition root (c10_factory.py)
- 18 tests covering AC-1..AC-16 + NFR-perf-coverage-walk
- filelock>=3.13,<4.0 (single new third-party dep)
Idempotence (CP-INV-1) reuses AZ-323's _compute_manifest_hash /
_aggregate_tile_hash so the build-identity decision agrees byte-for-
byte with the Manifest's recorded manifest_hash. Coverage rollback
uses a .prev rename snapshot. Diagnostic compile_engines_for_corpus
is lock-free per AC-10.
Co-authored-by: Cursor <cursoragent@cursor.com>
Cumulative code review for batches 34-36 (AZ-507, AZ-323, AZ-324,
AZ-306, AZ-322) per implement skill Step 14.5 K=3 cadence.
Verdict: PASS_WITH_WARNINGS — 0 Critical / 0 High / 0 Medium / 3 Low
(all Maintainability). Previous review's Medium F1 (doc-vs-lint) is
RESOLVED by AZ-507. Carryover-Low findings tracked:
- F1: manifest_verifier imports private _aggregate_tile_hash from
manifest_builder; promote to public or extract to a shared module
(1-pt follow-up PBI).
- F2: AZ-508 task spec stale — c6 already consolidated within-component,
c7 has 2 active copies (+ a new thermal_publisher copy not in spec).
- F3: consumer-side Protocol cut pattern still un-documented in
architecture.md; pattern now 9+ instances and is the established
cross-component contract surface.
State updated: last_cumulative_review = batches_34-36; sub_step =
parse-tasks; batch 37 (AZ-325 C10 CacheProvisioner solo, 3pt) is next.
Co-authored-by: Cursor <cursoragent@cursor.com>
Production-default DescriptorIndex strategy backed by the faiss-cpu
PyPI wheel (>=1.7,<2.0). Implements the AZ-303 Protocol surface end
to end: HNSW32 + IndexIDMap2 search, atomic three-file rebuild
(.index + .sha256 sidecar + .meta.json), triple-consistency load
check, mmap-backed reads with IO_FLAG_MMAP|IO_FLAG_READ_ONLY, optional
warm-up query at construction, FAISS RuntimeError rewrap to
IndexUnavailableError / IndexBuildError, and FaissDescriptorIndex.from_config
classmethod wired into runtime_root.storage_factory.
The original spec required a custom pybind11 wrapper over a vendored
FAISS HEAD; the user opted for the upstream faiss-cpu wheel after
research fact #92 confirmed ARM64 wheel availability for Jetson and
the existing pyproject.toml already pinned faiss-cpu. cpp/faiss_index/
placeholder removed; BUILD_FAISS_INDEX flag retained as a
runtime/factory gate (no native target). Spec rewritten end-to-end and
archived to _docs/02_tasks/done/.
C6TileCacheConfig extended with faiss_index_path and
faiss_warmup_query_path fields. tests/conftest.py sets
KMP_DUPLICATE_LIB_OK=TRUE to remediate the macOS faiss/torch libomp
duplicate-load abort during pytest (no-op on CI Linux). 21 new tests
cover AC-1..12 + 2 NFRs + from_config smoke; AZ-303 protocol-conformance
fake updated with from_config classmethod.
Tests: 124/124 c6_tile_cache pass; 1334 project-wide pass; 1
pre-existing OKVIS2 submodule failure unrelated.
Doc sync: module-layout.md, components/08_c6_tile_cache/description.md
§5, batch_35_cycle1_report.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
The previous /autodev session committed batch-34 (AZ-507 + AZ-323 +
AZ-324) and recorded the completion in _autodev_state.md but never
wrote the batch report file. Backfill the report now so the
cumulative-review trigger and resumability scans see the true latest
batch on disk. Reconstructed from commit e2bebef diff stats, the
three task specs in done/, and the cumulative_review_batches_31-33
context that opened AZ-507.
Co-authored-by: Cursor <cursoragent@cursor.com>
Cumulative review covering AZ-298 / AZ-299 / AZ-321:
PASS_WITH_WARNINGS. 0 Critical, 0 High, 1 Medium, 2 Low.
Medium: `module-layout.md` declares c10 may import from c7
Public API but `test_az270_compose_root.test_ac6` forbids ANY
cross-component import — doc-vs-lint mismatch surfaced by
AZ-321; refactor pivoted to `CompileEngineCallable` local
Protocol cut. Flagged for hygiene PBI; not blocking.
Low: `_iso_ts_now` now duplicated five times across c7+c6;
consumer-side Protocol cut pattern recurring (LightGlue
`EngineHandle` + `CompileEngineCallable`). Both deferred to
the next hygiene cycle.
State advances to phase 3 (compute-next-batch) with
last_cumulative_review=batches_31-33 so the next /autodev
invocation enters at the right point.
Co-authored-by: Cursor <cursoragent@cursor.com>
Land the C10 per-model engine compile + cache-reuse orchestrator.
`EngineCompiler.compile_engines_for_corpus(request)` walks the
corpus, computes the canonical engine filename via AZ-281
`EngineFilenameSchema.build`, and either reuses the cached binary
(cache hit, AZ-280 `Sha256Sidecar.verify` returns True) or delegates
to the AZ-297 `compile_engine` on the injected runtime (cache miss;
the runtime owns the write path). Returns one `EngineCompileResult`
per backbone carrying the canonical `EngineCacheEntry`, outcome
(BUILT / REUSED), and `compile_duration_s` (None on reuse).
Hardware-tied reuse (D-C10-6 / D-C10-7) falls out of the filename
schema — a host change rebuilds at the new path and leaves the old
files untouched (AC-4).
Design corrections vs. the task spec body:
- The spec proposed a c10-local `EngineCacheEntry` carrying outcome
and duration; that name is already taken by the AZ-297 canonical
DTO. The wrapper is renamed `EngineCompileResult`; the canonical
shape wins.
- The spec called `InferenceRuntime.host_info()`, which is not in
the AZ-297 Protocol. `HostCapabilities` is threaded through
`EngineCompileRequest` instead so the composition root owns host
probing and the compiler stays decoupled.
- The c10 layer cannot import `components.c7_inference` (arch rule
`test_az270_compose_root.test_ac6`). `engine_compiler.py` defines
`CompileEngineCallable` — a structural Protocol cut of
`InferenceRuntime` exposing only `compile_engine` — and catches
broad `Exception` (re-raising preserves the original type;
`error_class` is recorded in the ERROR log payload).
Production
- engine_compiler.py: `CompileOutcome` enum, `BackboneSpec`,
`EngineCompileRequest`, `EngineCompileResult`,
`EngineCompileSummary` DTOs; `CompileEngineCallable` Protocol;
`EngineCompiler` with the single public method.
- config.py: `BackboneConfig` + `C10ProvisioningConfig`
(`workspace_mb` default 4 GiB to match C7 NFT-LIM-01); validate
positive shape dims and duplicate model_name detection in
`__post_init__`.
- runtime_root/c10_factory.py: `build_engine_compiler(config)` wires
the existing `build_inference_runtime` factory through;
`build_backbone_specs(config)` materialises the `BackboneSpec`
tuple from the config block.
- components/c10_provisioning/__init__.py: re-exports the AZ-321
surface and registers the new config block.
Tests
- test_engine_compiler.py: covers AC-1..AC-10 + missing-sidecar
sibling case for AC-5. Tier-1 via fake runtime that writes through
the REAL `Sha256Sidecar.write_atomic_and_sidecar`. Tier-2
placeholders for the cache-hit p99 NFR (200 MB engine sweep) and
kill-during-compile atomic-write NFR.
Docs
- module-layout.md: c10_provisioning Per-Component Mapping lists the
new internal modules (engine_compiler.py, config.py), the
composition-root c10_factory.py, the AZ-321 public re-export
surface, and the registered config block.
- batch_33_cycle1_report.md + reviews/batch_33_review.md:
PASS_WITH_WARNINGS (4 Low findings accepted).
Tests run: c10_provisioning 13 passing + 2 Tier-2 skips; combined
unit suite (excluding pending components) 543 passing, 21
env-skipped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Land the fallback InferenceRuntime strategy that satisfies C7-IT-05:
when the TRT-direct path (AZ-298) cannot deserialise a cached engine
or when the operator explicitly selects ORT, the system stays in the
air at degraded latency rather than dropping the request. Conforms to
the AZ-297 Protocol; current_runtime_label() == "onnx_trt_ep".
Production
- onnx_trt_ep_runtime.py: compile_engine is a no-op returning an
EngineCacheEntry pointing at the source .onnx; deserialize_engine
is gate-first for .engine entries and gate-skip for .onnx, builds
an ORT InferenceSession with the provider list
[TensorrtExecutionProvider, CUDAExecutionProvider,
CPUExecutionProvider], stages cached engines into the ORT TRT EP
cache directory via symlink-or-copy, warms up with one session.run
after construction, and honours config.inference.ort_disallow_cpu_
fallback by raising EngineDeserializeError when the active provider
resolves to CPU; infer emits a one-shot c7.fallback_to_onnx_trt_ep
WARN log plus gcs_alert callback on first call when is_fallback=
True; release_engine is idempotent. _build_provider_args is the
single point that pins TRT EP option-key names (Risk-3) and caps
trt_max_workspace_size at gpu_memory_budget_bytes // 4 (AC-8).
- config.py: adds ort_trt_cache_dir (validated non-empty) and
ort_disallow_cpu_fallback to C7InferenceConfig.
- fdr_client/records.py: adds c7.fallback_to_onnx_trt_ep and
c7.cpu_fallback FDR record kinds.
Tests
- test_onnx_trt_ep_runtime.py: covers AC-1..AC-8 + Risk-2 CPU-fallback
alert + Risk-3 option-key pin + NFR-reliability error rewrap; Tier-1
via fake ORT session; Tier-2 placeholders skip on macOS dev for
numerical FP16 comparison and session-creation perf NFR.
- test_protocol_conformance.py: drops onnx_trt_ep from the missing-
module parametrize now that the module ships.
- test_az272_fdr_record_schema.py: extends per-kind fixture builder
to cover the two new C7 FDR kinds in the roundtrip / schema-version
AC tests.
Docs
- module-layout.md: replaces the pending onnx_trt_runtime row with
the shipped onnx_trt_ep_runtime row + capabilities list.
- batch_32_cycle1_report.md + reviews/batch_32_review.md: full batch
+ self-review (PASS_WITH_WARNINGS, 4 Low findings accepted).
Tests run: c7_inference 139 passing + 17 Tier-2 skips; combined unit
suite (excluding pending components) 529 passing, 19 env-skipped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Implement the production-default InferenceRuntime strategy on JetPack
6.2 + TensorRT 10.3 (per D-C7-9). The runtime owns the full TRT
lifecycle: compile_engine via the Polygraphy + trtexec + IBuilderConfig
hybrid (FP16 / INT8 / Mixed precision), deserialize_engine with
EngineGate-first ordering and a pre-allocation GPU memory budget gate,
infer via H2D -> enqueueV3 -> D2H -> stream sync on the owned CUDA
stream, idempotent release_engine, and an injected
ThermalStatePublisher delegation for thermal_state.
INT8 calibration cache trust (D-C10-6, AC-2/3/4) is enforced by a
.calib_cache.sha256 file-integrity sidecar (AZ-280) plus a new
.calib_cache.dataset_sha256 sidecar that records the dataset content
hash at compile time; reuse only when both agree, rebuild silently on
dataset hash mismatch, raise CalibrationCacheError on corrupt sidecar
(never silently overwritten).
GPU memory budget (NFT-LIM-01, default 4 GiB) is checked BEFORE any
TRT call beyond the gate (AC-6); a pre-allocation refusal raises
OutOfMemoryError and leaves the resident state unchanged.
TensorRT 10.3 / Polygraphy / PyCUDA are lazy-imported inside the
methods that need them so the module loads cleanly on Tier-0 hosts.
A standalone CLI entry (python -m
gps_denied_onboard.components.c7_inference.tensorrt_runtime compile
<onnx> <build_config.json>) is wired for C10 CacheProvisioner
(AZ-321) to invoke pre-flight without holding a runtime instance.
C7InferenceConfig gains gpu_memory_budget_bytes (default 4 GiB) and
trtexec_timeout_s (default 600 s, Risk 4 mitigation), both validated
in __post_init__.
Tests: 26 active + 6 Tier-2-gated skips; AC-1 / AC-3 / AC-4 / AC-5
/ AC-6 / AC-7 / AC-10 + NFR-reliability fully covered on Tier-1
via fake CUDA / TRT modules; AC-2 / AC-8 / AC-9 / NFR-perf-deserialize
placeholders skip with prerequisite reason and live in the AZ-298
Tier-2 microbench harness. Code review verdict
PASS_WITH_WARNINGS (1 Medium hot-path hoist fix auto-applied).
Co-authored-by: Cursor <cursoragent@cursor.com>
PASS_WITH_WARNINGS verdict for batches 28-30 (AZ-305, AZ-307, AZ-308);
five findings, all Medium/Low — module-layout drift + cross-batch DRY.
No Critical/High, no auto-fix gate; per implement Step 14.5,
PASS_WITH_WARNINGS continues to the next batch.
Co-authored-by: Cursor <cursoragent@cursor.com>
CacheBudgetEnforcer.reserve_headroom(needed_bytes) returns immediately
when total_disk_bytes() + needed_bytes <= budget, otherwise iterates
lru_candidates in eviction_batch_size batches, deletes via delete_tile,
emits one INFO log per evicted tile (c6.evicted) and one FDR record per
eviction batch (c6.eviction_batch, evicted_tile_ids capped to 5).
Raises CacheBudgetExhaustedError AFTER a full sweep if the budget
cannot be met. BudgetEnforcedTileStore decorates a TileStore so the
policy stays separable from PostgresFilesystemStore. Composition root
in storage_factory.build_tile_store wires the wrapper unconditionally.
PostgresFilesystemStore now accepts lru_clock: Clock | None = None;
when set, read_tile_pixels calls record_lru_access(tile_id, now) so
eviction picks the right LRU candidates. Production wiring injects
WallClock(); AZ-305 unit tests still construct without the clock and
keep their pass-through semantics. Contract tile_store.md bumped to
v1.1.0 to add CacheBudgetExhaustedError to the TileCacheError family;
shared FDR schema bumped to v1.3.0 for the new c6.eviction_batch kind.
Co-authored-by: Cursor <cursoragent@cursor.com>
Replaces the AZ-305 pass-through _evaluate_freshness hook with the
production FreshnessGate. Loads tile_freshness_rules + sector
classifications once at construction, builds an rtree index, and on
every evaluate() either returns metadata unchanged (FRESH), stamps
freshness_label=DOWNGRADED (stable_rear + stale), or raises
FreshnessRejectionError carrying tile_id / age_seconds /
classification / rule diagnostics (active_conflict + stale).
Constructed inside PostgresFilesystemStore.from_config; the public
storage_factory signature is preserved so AZ-305 unit tests still
build the store with freshness_gate=None for the pass-through path.
FDR schema bumped to v1.2.0: adds c6.freshness.rejected and
c6.freshness.downgraded kinds (non-breaking; v1.1 readers route them
opaquely). Operator CLI `python -m c6_tile_cache.freshness_gate
explain` dry-runs the decision for a (lat, lon, capture_ts).
Adjacent hygiene: c6_tile_cache.tools._dump_tile now passes
os.environ to load_config (AZ-305 regression — load_config requires
the env mapping).
Co-authored-by: Cursor <cursoragent@cursor.com>
Adds the production PostgresFilesystemStore implementing both protocols
in a single class. Filesystem-backed JPEG I/O (atomic sidecar write,
read-only mmap) + Postgres-backed metadata (spatial bbox, LRU, voting,
upload bookkeeping). Wires composition via `from_config` classmethod.
Key behaviors:
- AC-3 strict reading: INSERT runs first inside an open transaction;
duplicate-key collisions raise `TileMetadataError` BEFORE any byte is
written, leaving the original file + sidecar byte-identical. Atomic
sidecar write happens inside the same transaction; commit closes it.
Comp-delete remains as a safety net for the rare commit-after-write
failure path.
- AC-2 content-hash gate runs before any I/O.
- Construction performs an orphan-file reconciliation scan and emits an
INFO `c6.store.construct` log with steady-state stats.
Adds `c6.write` and `c6.write_failed` FDR record kinds (schema v1.1.0,
forward-compatible) and a thin operator CLI at
`c6_tile_cache.tools dump` for inspection.
Dependencies: adds `psycopg-pool>=3.2,<4.0` for the connection pool used
on the F3 read-hot path.
Tests: 25 new tests for c6_tile_cache cover AC-1..AC-15 plus
MmapTilePixelHandle + helper round-trips. Full Tier-2 unit suite passes
(1215 passed, 8 skipped, 1 pre-existing unrelated failure
`test_ac8_read_host_tuple_on_jetson` — missing `pynvml` on macOS,
Jetson-only).
Co-authored-by: Cursor <cursoragent@cursor.com>
Cumulative review of batches 23-27 (cycle 1) surfaced three Medium
documentation-drift findings on module-layout.md. All three fixed
inline per user direction:
F1: c7_inference Internal list expanded with architecture_registry,
config, engine_gate, errors, manifest, thermal_publisher (added
across AZ-300/301/302).
F2: c6_tile_cache `connection.py` re-attributed from AZ-304 (which
deferred it) to AZ-305 with a "planned, not landed yet" tag.
F3: c7_inference Public API description rewritten by category
(Protocol + DTOs + component services + config + error family)
with a pointer to __init__.py's __all__ for the canonical list.
Cumulative review report: _docs/03_implementation/cumulative_review_
batches_23-27_cycle1_report.md (PASS_WITH_WARNINGS).
Autodev state moved to status: paused_user_requested per user
choice; /autodev will resume at greenfield Step 7 (next batch
selection) on next invocation.
Co-authored-by: Cursor <cursoragent@cursor.com>
Strictly additive Alembic migration on the AZ-263 baseline (data_model
.md § 6.1 / § 6.3): six new tiles columns (tile_uuid UNIQUE,
location_hash, content_sha256, disk_bytes, accessed_at, uploaded_at),
four new btree indices, one UNIQUE expression index over the
COALESCE-zero-uuid natural key, CHECK widening of
ck_tiles_freshness_status to the AZ-263 + AZ-303 vocabulary UNION,
four NULLable bbox columns on sector_classifications, and a new
tile_freshness_rules table seeded with the two default thresholds.
Pinned UUIDv5 namespace (TILE_NAMESPACE_UUID =
5b8d0c2e-1a4f-4b3a-8c9d-e7f6a3b2c1d0) + derive_tile_id /
derive_location_hash helpers cross-coordinated with
satellite-provider. Migration runner apply_migrations(config) drives
Alembic command.upgrade("head") against the AZ-263 env with one
retry on PG SQLSTATE 40001 and structured INFO logs on apply / no-op.
Contract bump tile_metadata_store.md v1.1.0 -> v1.2.0 adds
TileMetadata.location_hash: UUID | None = None (non-breaking).
module-layout.md updated so c6_tile_cache explicitly Owns
db/migrations/**.
Tier-1 tests: UUIDv5 determinism + locked vectors + DSN resolution +
retry mocked DBAPIError -> 1180 passed, 32 skipped. Tier-2 docker
schema tests gated by @pytest.mark.docker run against the existing
docker-compose.test.yml db service.
Co-authored-by: Cursor <cursoragent@cursor.com>
Implements AZ-297 InferenceRuntime's thermal_state() side: a singleton
background-thread publisher that polls jtop (preferred) or pynvml
(fallback) at config.thermal_poll_hz, stores an atomic ThermalState
snapshot, and emits c7.thermal_transition FDR records on every throttle
flip with a WARN log on entry and an INFO log on exit. Default-safe on
TelemetryUnavailableError per Invariant I-6 with a 1-Hz rate-limited
WARN.
Sources return a raw ThermalReading; the publisher stamps measured_at_ns
via its injected Clock so _JtopSource / _PynvmlSource stay clean of
direct time.* calls (Invariant 2). _poll_once is the deterministic test
seam — start() spawns the production thread.
- c7.thermal_transition registered in fdr_client.records KNOWN_PAYLOAD_KEYS
- [telemetry] optional dep group (jetson-stats, pynvml) added to pyproject
- 14 unit tests (AC-1..AC-6, AC-8, NFR-default-safe, structural)
green; AC-7 / AC-1 microbench / NFR-perf-poll Tier-2 deferred
- full unit suite: 1140 passed, 11 expected Tier-2/CUDA skips
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-301 takeoff-side validator every InferenceRuntime strategy calls
before deserialize_engine. Five-step deterministic refusal pipeline,
in order:
1. filename schema parse -> EngineSchemaMismatchError(reason=...)
2. schema tuple match -> EngineSchemaMismatchError(expected,got)
3. sidecar present -> EngineSidecarMissingError
4. sidecar trust -> EngineHashMismatchError(stage=sidecar)
5. manifest match -> EngineHashMismatchError(stage=manifest)
Refusal order is part of the public contract (AC-7 verifies a
fixture that is BOTH schema-mismatched AND missing-sidecar refuses
at step 1).
Production code (new):
- components/c7_inference/engine_gate.py -- EngineGate, HostTuple,
read_host_tuple (Jetson: pynvml + /etc/nv_tegra_release +
tensorrt.__version__; raises RuntimeError on Tier-1)
- components/c7_inference/manifest.py -- DeploymentManifest,
ManifestReader, ManifestReaderProtocol. Risk-2 enforced at the
type level: __getitem__ raises EngineHashMismatchError on
missing key, NEVER KeyError, so the gate cannot silently pass
- components/c7_inference/__init__.py -- re-exports the new
public surface
Tests (new): tests/unit/c7_inference/test_engine_gate.py covers
AC-1..AC-7 + NFR-reliability-no-write + manifest reader + refusal
log emission. 14 tests unconditional + AC-8 Tier-2 skip (needs
real NVML + L4T release file + tensorrt binding).
Three task-spec -> as-built deltas documented in
_docs/02_tasks/done/AZ-301_c7_engine_gate.md Implementation Notes:
1. HostTuple lives in engine_gate.py (the only consumer);
re-exported from package __init__.py.
2. read_host_tuple takes precision as a keyword argument — three
of four fields come from the host, precision is engine-build
metadata supplied by the caller.
3. AC-8 is Tier-2-only; AC-1..AC-7 + NFR-reliability + extras
run on every CI host.
Risk-2 (manifest reader silently treats missing entry as pass):
DeploymentManifest.__getitem__ raises EngineHashMismatchError with
"missing manifest entry for {path}" — covered by
test_manifest_missing_entry_raises_hash_mismatch.
NFR-perf-validate (p99 <= 50 ms): tier-2 only — a real 500 MB
engine streaming sha256 cannot be benchmarked on Tier-1 fixtures.
AZ-302 (ThermalStatePublisher) + AZ-304 (C6 Postgres schema)
deferred to batches 26 / 27 to keep the 1-task batch cadence and
isolate their respective env / testcontainer surface areas.
Suite: 1134 passed / 11 skipped. No regressions outside the new
files.
Co-authored-by: Cursor <cursoragent@cursor.com>
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>
Handoff artifacts from the prior /autodev session that stopped at
Step 7 sub_step compute-next-batch:
- _docs/_autodev_state.md: pointer updated to batch 23, AZ-332 only
(AZ-345 deferred — dep AZ-346 not yet in done/).
- _docs/03_implementation/AZ-332_implementation_plan.md: locked-in
decisions (no ROS 2, no Python re-impl, three-env split: macOS dev /
Ubuntu CI / Jetson tier2) + step-by-step playbook for next session.
Pre-batch chore commit per implement skill prereq #4 (clean tree
required before AZ-332 commit so the batch diff stays focused).
Co-authored-by: Cursor <cursoragent@cursor.com>
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>
Add operator warm-start path to C5 StateEstimator Protocol and both
implementations (GtsamIsam2StateEstimator, EskfStateEstimator), plus
the third clause of the AZ-385 spoof-promotion gate.
- StateEstimator Protocol: set_takeoff_origin(origin, sigma_horiz_m,
sigma_vert_m) -> None.
- iSAM2: PriorFactorPose3 at origin with diagonal sigmas, single
isam2.update().
- ESKF: zero _nominal_pos, overwrite _P position block with sigma**2.
- SourceLabelStateMachine.process_gps_sample bounded-delta clause:
WgsConverter.horizontal_distance_m vs smoother estimate; reject
resets the dwell-time counter so AZ-385 cannot re-promote off bad
GPS.
- New EstimatorAlreadyStartedError (StateEstimatorConfigError
subclass) on late call after first add_*.
- C5StateConfig: spoof_promotion_bounded_delta_m=200,
default_takeoff_origin_sigma_horiz_m=5,
default_takeoff_origin_sigma_vert_m=10.
- New GpsSample DTO + WgsConverter.horizontal_distance_m helper.
- 4 new FDR kinds (cold_start_origin.{set,unavailable},
gps_bounded_delta.{accept,reject}) registered in AZ-272 schema.
- 33 new unit tests cover AC-1..AC-15; full repo 750 passed / 2
skipped (pre-existing CI tooling skips).
Docs synced: protocol contract, C5 component description,
architecture, glossary, system-flows, C10 provisioning description.
Co-authored-by: Cursor <cursoragent@cursor.com>
Implements the mandatory simple-baseline StateEstimator per AC-2.1a
engine-rule at C5 (IT-12 comparative study vs iSAM2). NumPy-only;
no GTSAM dependency so BUILD_STATE_ESKF=ON binaries ship without
GTSAM at all.
- 16-state error vector (pos 3 + vel 3 + rot 3 + ba 3 + bg 3 + dt 1)
over a textbook nominal-state / error-state ESKF split.
- add_fc_imu: full nonlinear IMU integration + linearised F P F^T + Q
covariance propagation per IMU sample.
- add_vio: simplified relative-pose update (snapshot-based; baseline
scope, documented).
- add_pose_anchor: absolute-pose update; integrates BOTH marginals and
jacobian modes (no skip — ESKF has no graph; AC-4).
- AC-9 divergence test: Mahalanobis r^T S^-1 r > 100 (10 sigma) on the
innovation covariance S = H P H^T + R.
- AC-5 SPD: Cholesky-positive enforcement on every emitted covariance;
non-SPD raises EstimatorFatalError and locks state to LOST.
- AC-6 honesty: smoothed_history entries carry smoothed=False; deviation
from C5 contract Invariant 7 documented in module + report.
- AC-7 / AC-10 BUILD_STATE_ESKF gating: works through existing factory
infra (state_factory._STATE_BUILD_FLAGS).
- AC-8: SourceLabelStateMachine + FallbackWatcher auto-wired eagerly
in __init__, same pattern as the iSAM2 estimator.
Tests: 20 new unit tests covering AC-1..AC-10 + robustness checks.
Full suite: 660 passed, 2 skipped (CI-only).
The AZ-386 Jira transition to Done is deferred (Atlassian MCP returned
'Not connected'); recorded in _docs/_process_leftovers/ for replay on
the next autodev invocation per the Leftovers Mechanism.
Co-authored-by: Cursor <cursoragent@cursor.com>
After every successful current_estimate(), emit one
c5.state.smoothed_history FDR record per newly-smoothed past
keyframe from IncrementalFixedLagSmoother. AC-4.5 (revised): the
smoothed stream goes ONLY to FDR; the C8 outbound forward-time
stream is unaffected.
Idempotency via _smoothed_fdr_watermark_s (smoother-native float
seconds); the same pose key is never emitted twice. Hook is
best-effort — internal failures log warnings but do not raise, so
a smoother divergence cannot contaminate the forward-time path.
Cross-task invariants documented:
- AC-3 ESKF no-op — AZ-386 installs an inert hook on the ESKF.
- AC-4 No C8 leak — enforced at the C8 boundary by AZ-261.
8 new unit tests against AC-1/2/5/6 + robustness (no-FDR-client,
marginals failure). Full suite: 640 passed, 2 skipped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Implements Invariants 5 + 8 + AC-NEW-2 / AC-NEW-8: the
EstimatorOutput.source_label now reflects a real state machine
(DEAD_RECKONED → SATELLITE_ANCHORED ↔ VISUAL_PROPAGATED) governed by
a spoof-promotion gate that latches closed on FC SPOOFED GPS health
and re-opens only when BOTH conditions hold — ≥10 s
STABLE_NON_SPOOFED AND next anchor within
spoof_promotion_visual_consistency_tol_m.
Every reject emits a c5.state.spoof_rejected FDR record plus a
subscriber-fan-out STATUSTEXT (severity WARNING, 50-char cap per
MAVLink). FDR and subscriber paths bypass the standard logger so
silencing logs cannot suppress the spoof trail (R07 / AC-6).
GtsamIsam2StateEstimator now eagerly builds the SM from C5StateConfig
in __init__; new public methods notify_gps_health() (delegates to
SM, called by composition root from C8 inbound) and
subscribe_spoof_rejection() (composition root attaches C8's
QgcTelemetryAdapter here). health_snapshot.spoof_promotion_blocked
+ current_estimate.source_label now flow from the live SM.
25 new unit tests across all 12 ACs plus cancellation, subscriber
exception isolation, and estimator wire-up integration cases. One
AZ-384 test renamed + updated to expect DEAD_RECKONED before any
anchor (was VISUAL_PROPAGATED placeholder pre-AZ-385).
Full suite: 632 passed, 2 skipped.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh