Oleksandr Bezdieniezhnykh
b66b68ff76
New operator-side console-script renders a self-contained HTML map (folium / Leaflet) comparing the estimator's JSONL track against the tlog ground-truth track. Pinned visual style: red truth + blue estimated polylines, start/end markers per track, 100 m + 50 m scale circles, optional AZ-699 accuracy-summary banner, and an --offline-tiles mode (with optional local tile-URL template) for Jetsons without internet. folium is gated behind a new [operator-tools] optional-dep so the airborne binary's cold-start NFR is unaffected (C12 binary doesn't import the new module). 14 new unit tests pin polyline count, marker count, scale-circle radii, summary embedding, offline-tile behaviour, and full CLI smoke. Zero mypy --strict errors. Refines the 2026-05-20 Jetson-only test policy: unit tests may run locally, e2e/perf/resilience/security stay Jetson-only. Documented in _docs/02_document/tests/environment.md (Where each tier runs) and .cursor/rules/testing.mdc (Test environment for this project). Co-authored-by: Cursor <cursoragent@cursor.com>
3.4 KiB
Batch 101 — Cycle 2 — AZ-700
Date: 2026-05-20
Tasks: AZ-700 (replay map visualization).
Story points: 3.
Jira status: AZ-700 → In Testing.
What shipped
A new operator-side console-script gps-denied-render-map that
renders a self-contained HTML map (folium / Leaflet) of the
estimator's track vs the tlog ground-truth track, with start/end
markers, 100 m + 50 m scale circles, optional summary banner from
AZ-699, and an --offline-tiles mode for Jetsons without internet
access.
folium is gated behind a new [operator-tools] optional-dependency
group so the airborne binary never pays for it.
Files changed
Production (2):
src/gps_denied_onboard/cli/render_map.py(new)pyproject.toml(new optional-deps group + console script)
Tests (1):
tests/unit/test_az700_render_map.py(14 tests, all PASS local)
Docs:
_docs/02_document/tests/environment.md— refined the 2026-05-20 "Jetson-only" policy to: unit tests local-OK, e2e Jetson-only..cursor/rules/testing.mdc— added the refined policy as an always-applied agent rule._docs/02_tasks/done/AZ-700_replay_map_visualization.md— Implementation Notes appended; moved fromtodo/.
AC coverage
| AC | Test / Artefact | Result |
|---|---|---|
| AC-1 | test_cli_writes_html_with_default_tiles |
PASS (local). |
| AC-2 | test_render_map_html_emits_two_polylines, …emits_four_markers_and_two_circles |
PASS |
| AC-3 | test_render_map_html_emits_two_polylines, …emits_four_markers_and_two_circles |
PASS — exactly 2 polylines + 4 markers + 2 scale circles. |
| AC-4 | Visual smoke on Tier-2 Jetson with operator-opened map.html |
DEFERRED to Jetson (correctly per refined test-env policy). |
| AC-5 | test_render_map_html_offline_tiles_omits_openstreetmap, …_template_uses_local_url |
PASS |
Test run
tests/unit/test_az700_render_map.py 14 PASS in 2.5 s
Wider regression slice 107 PASS 1 SKIP
The 1 skipped test is the pre-existing AZ-698 AC-5 e2e smoke
(needs the real video in _docs/00_problem/input_data/flight_derkachi/).
Strict typing
mypy --strict src/gps_denied_onboard/cli/render_map.py
→ Success: no issues found in 1 source file.
The lazy folium import uses
# type: ignore[import-untyped, import-not-found, unused-ignore]
so strict passes cleanly whether or not [operator-tools] is
installed.
Refined test-environment policy
Mid-batch the user clarified the existing "Jetson-only across all tiers" policy: unit tests may run locally, e2e tests stay Jetson-only. Rationale: the unit suite is fully synthetic, so a local PASS = Jetson PASS for that tier; the e2e suite is bound to Jetson hardware / latency / SITL and a local run is meaningless.
Captured in:
_docs/02_document/tests/environment.md— banner + new "Where each tier runs (active policy)" table + Test Execution section rewritten..cursor/rules/testing.mdc— appended "Test environment (this project)" section so future agent sessions cannot drift back to running e2e locally.
Next batch
Batch 102 — AZ-701 (HTTP replay API service). Depends on AZ-697 (truth source) and AZ-699 (report writer). Last task in cycle 2.