# Code Review Report

**Batch**: AZ-232_safety_anchor_state_machine
**Date**: 2026-05-03
**Verdict**: PASS

## Findings

No findings.

## Review Scope

- Task spec:
  - `_docs/02_tasks/todo/AZ-232_safety_anchor_state_machine.md`
- Changed files:
  - `src/safety_anchor_wrapper/__init__.py`
  - `src/safety_anchor_wrapper/interfaces.py`
  - `src/safety_anchor_wrapper/types.py`
  - `tests/unit/test_safety_anchor_wrapper.py`

## Phase Notes

### Spec Compliance

- AZ-232 AC-1 is covered by `test_vio_state_updates_position_estimate_with_honest_covariance`.
- AZ-232 AC-2 is covered by `test_accepted_anchor_corrects_state_and_records_evidence`.
- AZ-232 AC-3 is covered by `test_blackout_degrades_then_reaches_no_fix_with_monotonic_covariance`.
- AZ-232 AC-4 is covered by `test_tile_write_eligibility_requires_trusted_low_covariance_pose`.

### Code Quality

The safety wrapper owns source-label, covariance, anchor-promotion, degraded-mode, and tile-eligibility decisions without reaching into VIO, Anchor Verification, MAVLink transport, or Tile Manager internals.

### Security Quick-Scan

No network calls, shell execution, dynamic code execution, hardcoded secrets, or credential logging were introduced.

### Performance Scan

State transitions are constant-time and operate on typed DTOs. No per-frame heavy retrieval or matching work was introduced.

### Cross-Task Consistency

The wrapper consumes `VioStatePacket` and `AnchorDecision` outputs from previous batches and emits shared `PositionEstimate` DTOs for MAVLink/GCS integration.

### Architecture Compliance

Imports respect `_docs/02_document/module-layout.md`: Safety And Anchor Wrapper imports shared contracts and does not call Tile Manager directly during anchor acceptance.

## Verification

- `.venv/bin/python -m black --check src tests e2e/replay`
- `.venv/bin/python -m ruff check src tests e2e/replay`
- `.venv/bin/python -m pytest`