gps-denied-onboard/_docs/03_implementation/reviews/batch_08_review.md

Code Review Report

Batch: AZ-231_anchor_verification_matching Date: 2026-05-03 Verdict: PASS

Findings

No findings.

Review Scope

• Task spec:
  • _docs/02_tasks/todo/AZ-231_anchor_verification_matching.md
• Changed files:
  • src/anchor_verification/__init__.py
  • src/anchor_verification/interfaces.py
  • src/anchor_verification/types.py
  • tests/unit/test_anchor_verification.py

Phase Notes

Spec Compliance

• AZ-231 AC-1 is covered by test_candidate_verification_emits_acceptance_evidence.
• AZ-231 AC-2 is covered by test_unsafe_candidate_is_rejected_with_reason.
• AZ-231 AC-3 is covered by test_matcher_benchmark_reports_profile_runtime_and_quality_metrics.

Code Quality

The implementation keeps evidence/result models in types.py, gate behavior in interfaces.py, and public exports in __init__.py. The benchmark path computes each verification result once and reports runtime/quality metrics per matcher profile.

Security Quick-Scan

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

Performance Scan

Anchor verification is request/trigger oriented and does not add a per-frame learned matcher loop. Benchmark reporting is bounded by the provided evidence tuple.

Cross-Task Consistency

The verifier consumes VprCandidate outputs from Satellite Service and emits shared AnchorDecision DTOs for the later safety wrapper task.

Architecture Compliance

Imports respect _docs/02_document/module-layout.md: Anchor Verification imports shared contracts only and does not reach into Satellite Service or Tile Manager internals.

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