mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 13:31:12 +00:00

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T

Oleksandr Bezdieniezhnykh 8e71f6c002 [AZ-266] [AZ-269] [AZ-277] [AZ-280] Cross-cutting log/config + SE3/SHA256 helpers

AZ-266: schema-compliant JSON logging entrypoint, level normalisation,
handler-topology guard, format-error fallback (log_record_schema v1.0.0).
AZ-269: env > YAML > defaults config loader, frozen Config dataclass,
missing-var fail-fast with pointer to .env.example, component-block registry.
AZ-277: GTSAM-backed SE3Utils (matrix<->SE3 + exp/log/adjoint) with strict
orthogonality, dtype, and bottom-row contract enforcement.
AZ-280: atomicwrites-backed write_atomic + independent verify +
order-deterministic aggregate_hash; sidecar format strictness.
pyproject.toml pins gtsam>=4.2,<5.0 and atomicwrites>=1.4,<2.0
(named-backend deps per the AZ-277 / AZ-280 contracts).
139 unit tests pass (44 new). Review verdict: PASS_WITH_WARNINGS;
findings are perf-NFR + journald deferrals, no blocking issues.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-11 01:33:42 +03:00

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Batch Report — Cycle 1 · Batch 2

Tasks shipped: AZ-266, AZ-269, AZ-277, AZ-280 Date: 2026-05-11 Branch: dev Review verdict: PASS_WITH_WARNINGS — see reviews/batch_02_review.md

Tasks

ID	Title	Owner Layer	Outcome
AZ-266	Shared Logging Module	cross-cutting / `logging/`	Implemented — schema-compliant JSON formatter, level normalisation, handler topology guard, format-error fallback
AZ-269	Config Loader	cross-cutting / `config/`	Implemented — env > YAML > defaults precedence, frozen `Config`, missing-var fail-fast with pointer, component-block registry
AZ-277	SE3Utils Helper	Layer 1 / `helpers/se3_utils.py`	Implemented — GTSAM-backed `matrix_to_se3` / `se3_to_matrix` / `exp_map` / `log_map` / `adjoint` with strict orthogonality + dtype contract
AZ-280	Sha256Sidecar Helper	Layer 1 / `helpers/sha256_sidecar.py`	Implemented — `atomicwrites`-backed `write_atomic` + independent `verify` + order-deterministic `aggregate_hash`

Files Changed

Modified:
  pyproject.toml                                   (+4 lines : gtsam, atomicwrites pins)
  src/gps_denied_onboard/config/__init__.py        (re-exports)
  src/gps_denied_onboard/config/loader.py          (load_config impl)
  src/gps_denied_onboard/config/schema.py          (frozen dataclasses + component registry)
  src/gps_denied_onboard/helpers/__init__.py       (re-exports)
  src/gps_denied_onboard/helpers/se3_utils.py      (SE3 primitives)
  src/gps_denied_onboard/helpers/sha256_sidecar.py (atomic write + sidecar verify)
  src/gps_denied_onboard/logging/__init__.py       (re-exports)
  src/gps_denied_onboard/logging/structured.py     (schema-compliant formatter)
  tests/unit/test_logging_smoke.py                 (updated to nested kv schema)

Added:
  tests/unit/test_az266_logging_schema.py
  tests/unit/test_az269_config_loader.py
  tests/unit/test_az277_se3_utils.py
  tests/unit/test_az280_sha256_sidecar.py
  _docs/03_implementation/reviews/batch_02_review.md

Test Results

$ pytest tests/unit -q --timeout=30
139 passed, 2 skipped in 5.27s

Skips are environment-gated (cmake configure step, actionlint), both verified in CI.

AC Coverage

Task	ACs declared	ACs covered locally	Tier-2 deferred
AZ-266	5 + 2 NFR	5 ACs + NFR-reliability	NFR-perf (p99 ≤ 0.2 ms on Jetson)
AZ-269	6 + 2 NFR	6 ACs + NFR-reliability	NFR-perf (cold load ≤ 250 ms on Jetson)
AZ-277	9 + 2 NFR	9 ACs + NFR-* via determinism + AST scan	none
AZ-280	9 + 2 NFR	9 ACs + NFR-perf-spot-check + NFR-reliability	none

Tier-2 perf budgets need hardware to verify against; the unit suite does not synthesise a Jetson budget locally. AZ-428..AZ-431 own the Tier-2 perf scenarios; the batch-2 modules are wired so those tasks plug in without further code changes here.

Dependency Pins

This batch amended pyproject.toml with two new runtime pins required by AZ-277 and AZ-280 contracts:

gtsam>=4.2,<5.0 — SE(3) backend per AZ-277 contract
atomicwrites>=1.4,<2.0 — atomic-replace backend per AZ-280 contract

Both names appear verbatim in the upstream contract documents and were the named-backend constraint, not an arbitrary choice. AZ-263 intentionally left these unpinned; the pins are added by the first batch that needs them.

Architecture Compliance

helpers/se3_utils.py and helpers/sha256_sidecar.py import only stdlib + named externals (numpy / gtsam / atomicwrites). No gps_denied_onboard.components.* imports — enforced by AST scan in both helper test files.
logging/structured.py imports stdlib only (optional systemd-python inside the Tier-2 handler factory, lazy).
config/loader.py imports stdlib + pyyaml. The register_component_block function is the only authorised path for a component to contribute a config block, satisfying AZ-269 § Risks Mitigation Risk 1.

No new circular imports. Verified by running the test suite (any cycle would fail collection).

Review Findings Summary

Verdict: PASS_WITH_WARNINGS. Four Low-severity findings:

AC-2 test pivots on fdr.queue_size rather than log.level — clean test design choice given LOG_LEVEL is required-env.
NFR-perf microbenchmarks deferred to Tier-2 perf suite.
Tier-2 journald handler unverified on macOS dev; runs in Jetson CI.
pyproject.toml dep amendment — by the consumer batch as designed.

Full details in reviews/batch_02_review.md.

Tracker Transitions

AZ-266: To Do → In Progress → (batch close) In Testing
AZ-269: To Do → In Progress → (batch close) In Testing
AZ-277: To Do → In Progress → (batch close) In Testing
AZ-280: To Do → In Progress → (batch close) In Testing

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