# Batch Report

**Batch**: 94
**Tasks**: AZ-623 (Phase E narrowed: build_pre_constructed seeds c282_ransac_filter + c5_imu_preintegrator + c5_se3_utils + c5_wgs_converter; `c5_isam2_graph_handle` work split out to AZ-625)
**Date**: 2026-05-19
**Cycle**: 1

## Task Results

| Task | Status | Files Modified | Tests | AC Coverage | Issues |
|------|--------|----------------|-------|-------------|--------|
| AZ-623_pre_constructed_phase_e_ransac_c5_helpers (narrowed) | Done | 7 files | 24 passed | 4/4 ACs covered | 0 blocking |

Original AZ-623 had a 5th deliverable (`c5_isam2_graph_handle`) that uncovered an unresolvable construction-order conflict between `c4_pose` (consumes the handle) and `c5_state` (creates the handle inside `build_state_estimator`'s tuple return) under the umbrella's "MUST NOT touch any per-component factory signature" constraint. Per the AZ-623 spec's own escalation gate ("if the resolution requires a Protocol seam change, escalate"), the question was surfaced; user chose to **split scope**:

- This batch lands the 4 stateless / cached helpers (narrowed AZ-623).
- New PBI **AZ-625** ("AZ-618 Phase E.5: c5_isam2_graph_handle ordering", 3pt, parent AZ-618) holds the handle work.
- **AZ-624** dependency edge updated to require both AZ-623 AND AZ-625.

## Files Changed

### Production
- `src/gps_denied_onboard/runtime_root/airborne_bootstrap.py` — added imports (`json`, `pathlib.Path`, `numpy`, `_types.calibration.CameraCalibration`, `helpers.imu_preintegrator.{ImuPreintegrator, make_imu_preintegrator}`, `helpers.ransac_filter.RansacFilter`, `helpers.wgs_converter.WgsConverter`); added module-level `_IMU_PREINTEGRATOR_CACHE` dict + `clear_imu_preintegrator_cache()` helper; added `_load_camera_calibration` (mirrors `_replay_branch._load_camera_calibration` but raises `AirborneBootstrapError`); added 4 builders `_build_c282_ransac_filter`, `_build_c5_imu_preintegrator` (cached on calibration path), `_build_c5_se3_utils` (returns the `helpers.se3_utils` module as a namespace handle, matching existing C5 estimator's MagicMock fixture pattern), `_build_c5_wgs_converter`; extended `build_pre_constructed` to populate the 4 new keys after the existing AZ-619..AZ-622 keys.

### Tests
- `tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py` (NEW, 7 tests):
  - `test_ac_623_1_adds_c282_ransac_and_c5_helpers` — AC-623.1 (4 keys + correct types).
  - `test_ac_623_1_keeps_existing_keys_intact` — additivity invariant (AZ-619..AZ-622 keys still present).
  - `test_ac_623_2_imu_preintegrator_cached_across_calls` — AC-623.2 (cache short-circuit via per-test counter).
  - `test_ac_623_2_imu_preintegrator_per_path_cache` — AC-623.2 (per-path cache isolation).
  - `test_ac_623_3_empty_calibration_path_raises_named_error` — AC-623.3 (operator-actionable error).
  - `test_ac_623_3_unreadable_calibration_path_raises_named_error` — AC-623.3 (file not found path).
  - `test_ac_623_3_malformed_json_raises_named_error` — AC-623.3 (JSON decode wrap).
- `tests/unit/runtime_root/test_az619_pre_constructed_phase_a.py` — added autouse `_stub_c5_builders`.
- `tests/unit/runtime_root/test_az620_pre_constructed_phase_b.py` — added autouse `_stub_c5_builders`.
- `tests/unit/runtime_root/test_az621_pre_constructed_phase_c.py` — added autouse `_stub_c5_builders`.
- `tests/unit/runtime_root/test_az622_pre_constructed_phase_d.py` — added autouse `_stub_c5_builders`.

### Specs
- `_docs/02_tasks/todo/AZ-623_*.md` → narrowed (handle work removed); ARCHIVED to `_docs/02_tasks/done/`.
- `_docs/02_tasks/todo/AZ-624_*.md` — Dependencies updated (AZ-625 added).
- `_docs/02_tasks/todo/AZ-625_c5_isam2_graph_handle_ordering.md` (NEW) — 3pt, parent AZ-618, holds the handle ordering work.

## AC Test Coverage: 4 of 4 covered

| AC | Test | Status |
|----|------|--------|
| AC-623.1 | `test_ac_623_1_adds_c282_ransac_and_c5_helpers` + `test_ac_623_1_keeps_existing_keys_intact` | Covered |
| AC-623.2 | `test_ac_623_2_imu_preintegrator_cached_across_calls` + `test_ac_623_2_imu_preintegrator_per_path_cache` | Covered |
| AC-623.3 | `test_ac_623_3_empty_calibration_path_raises_named_error` (+ 2 variants for unreadable/malformed) | Covered |
| AC-623.4 | File `tests/unit/runtime_root/test_az623_pre_constructed_phase_e.py` exists | Covered |

## Code Review Verdict: PASS_WITH_WARNINGS

Full report: `_docs/03_implementation/reviews/batch_94_review.md`. Three Low findings:

1. **F1 (Low / Maintainability)** — `_load_camera_calibration` duplicates `_replay_branch._load_camera_calibration` (different exception class). Defer to a hygiene PBI (~2pt) bundled with batch 93's F2 leftover.
2. **F2 (Low / Maintainability)** — empty-path check duplicated across `_build_c5_imu_preintegrator` and `_load_camera_calibration` (defense-in-depth). No change recommended.
3. **F3 (Low / Style)** — `c5_se3_utils` returns a Python module as a namespace handle. Documented; matches existing C5 test fixture pattern. YAGNI — defer Protocol introduction.

No Critical / High / Medium findings. Auto-fix not invoked.

## Auto-Fix Attempts: 0

## Stuck Agents: None

## Test Run Summary

- Targeted test set (AZ-619..AZ-623): **24 passed** in 1.07s.
- Regression check (`tests/unit/runtime_root/` + `tests/unit/c5_state/`): **247 passed** in 1.78s.

## Scope-Split Decision Trail

The split was driven by an irreconcilable construction-order issue between two umbrella constraints:

- **Constraint A** (umbrella AZ-618): "MUST NOT touch any per-component factory signature" + "All changes confined to runtime_root/airborne_bootstrap.py, runtime_root/__init__.py, and the new test file."
- **Constraint B** (existing seam): `build_state_estimator` returns `(StateEstimator, ISam2GraphHandle)` as a tuple — the handle is a structural side-product of the estimator, not separately constructable.
- **Constraint C** (existing seam): C4's `build_pose_estimator` consumes `c5_isam2_graph_handle` from `pre_constructed`, so `compose_root` topologically requires it to exist before C4 runs, which is before C5 runs.

Possible resolutions all touched at least one of A/B/C; the user-approved Option B preserves all three constraints by:

- Keeping the **C4 ↔ C5 seam intact** (no Protocol changes).
- Promoting the (estimator, handle) build into `airborne_bootstrap`, where AZ-618 explicitly permits orchestration.
- Documenting the strategy in AZ-625's spec § "Decision" with full rationale.

## Tier-2 / Deferred Work

- AZ-625 (3pt) — handle ordering work, blocks AZ-624.
- Hygiene PBI to consolidate `_load_camera_calibration` between airborne_bootstrap and `_replay_branch` (F1) and `_is_build_flag_on` triple-duplication (batch 93 F2). Bundle as ~2pt cleanup PBI post-AZ-618.

## Next Batch

- **Batch 95**: AZ-625 (Phase E.5: c5_isam2_graph_handle ordering) — 3pt.
- **Then Batch 96**: AZ-624 (Phase F: wire main() + AC-1..AC-5 verification incl. Jetson tier-2) — 2pt.
- **Cumulative review window**: next due at batch 96 (K=3 from last cumulative at 88-92).