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gps-denied-onboard/.planning/phases/02-acceptance-criteria-test-taxonomy-observability-spine/02-05-SUMMARY.md
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Yuzviak e81b6fdfba docs(02-05): complete CI pipeline split + AC orphan reconciliation plan 
- 02-05-SUMMARY.md: full execution record for plan 02-05
- ROADMAP.md: plan progress updated (5 summaries of 7 plans complete)
- REQUIREMENTS.md: AC-06 and TEST-02 marked complete

Per-marker CI jobs and ac-traceability gate are now the CI contract.
All 21 orphan ACs annotated pending-phase-N; --check exits 0 locally.
2026-05-11 18:35:47 +03:00

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phase, plan, subsystem, tags, dependency_graph, tech_stack, key_files, decisions, metrics
phase plan subsystem tags dependency_graph tech_stack key_files decisions metrics
02-acceptance-criteria-test-taxonomy-observability-spine 05 ci-pipeline
ci-yaml
per-marker-jobs
ac-traceability-gate
nightly
pending-phase-annotation
requires provides affects
02-04
.github/workflows/ci.yml
.github/workflows/nightly.yml
AC orphan annotations
_PENDING_RE regex
AC-06-satisfaction
TEST-02-satisfaction
02-06
02-07
added patterns
per-marker-ci-jobs
ac-traceability-two-step-gate
nightly-slow-lane
pending-phase-annotation
created modified
.github/workflows/nightly.yml
scripts/gen_ac_traceability.py
_docs/00_problem/acceptance_criteria.md
.github/workflows/ci.yml
.planning/AC-TRACEABILITY.md
ci.yml split into 6 jobs: lint, test-unit, test-integration, test-blackbox, ac-traceability, docker-build
ac-traceability gate is two-step: git diff --exit-code + --check (separate error messages for stale matrix vs orphan AC)
test-blackbox runs PR-only (if: github.event_name == 'pull_request') per PATTERNS.md §4.3 rationale
nightly.yml sitl job uses --collect-only not actual run; real SITL stays in sitl.yml (PATTERNS.md §4.3 item 3)
AC-8.4 deferred-stage3 token annotated with pending-phase-4 since deferred-stage3 did not match _DEFERRED_RE
AC-3.1 and AC-3.2 (not in plan table) assigned pending-phase-4 (VPR-01) — resilience tests are VPR-class work
AC-3.5 (not in plan table) assigned pending-phase-3 (SAFE-02) — dead_reckoned mode switch is SAFE scope
duration completed tasks_completed files_created files_modified
~12 minutes 2026-05-11 5 1 4

Phase 02 Plan 05: CI Pipeline Split + AC Orphan Reconciliation Summary

One-liner: Per-marker CI jobs (test-unit, test-integration, test-blackbox, ac-traceability, docker-build) wired to --strict-markers; all 21 orphan ACs annotated pending-phase-N so gen_ac_traceability.py --check exits 0.

Tasks Completed

Task Name Status Commit
1 Extend gen_ac_traceability.py _PENDING_RE Done a464697
2 Annotate 21 orphan ACs with pending-phase-N Done a54a41c
3 Rewrite ci.yml per-marker jobs + ac-traceability gate Done 2f360ec
4 Create nightly.yml sitl + e2e Done a2a9c2c
5 Regression gate + matrix re-commit Done 61c39cc

Task 1: Script Extension

Added _PENDING_RE = re.compile(r"pending-phase-\d+", re.IGNORECASE) alongside the existing _DEFERRED_RE.

Updated collect_acs_from_doc() to:

  • Initialize each AC entry with {"deferred": False, "deferred_reason": None}
  • Set deferred_reason = "hardware" when _DEFERRED_RE matches
  • Set deferred_reason = <matched pending-phase-N token> when _PENDING_RE matches

Updated render_md() to render DEFERRED ({reason}) using the actual reason string (e.g. DEFERRED (pending-phase-3) vs DEFERRED (hardware)).

Task 2: Orphan AC Annotations

All 21 orphans from Plan 02-04 SUMMARY annotated with pending-phase-N (REQ-ID) in their **Status.** lines:

AC Phase assigned Requirement Reason
AC-2.1b 4 VPR-03 Cross-domain MRE requires VPR multi-scale
AC-3.1 4 VPR-01 Outlier tolerance is VPR recovery scope
AC-3.2 4 VPR-01 Sharp-turn re-loc is VPR recovery scope
AC-3.5 3 SAFE-02 Blackout mode switch lives in safety-anchor-state-machine
AC-4.2 4 FDR-01 Memory bench needs Azaion fixture for representative load
AC-4.5 3 SAFE-04 Refinement-correction round-trip = verifier->state machine
AC-5.1 3 SAFE-01 Init-from-FC-IMU in SAFE-01..03 startup hooks
AC-5.3 3 SAFE-01 Reboot recovery = SAFE-01 startup hook
AC-6.1 5 MAVOUT-01 QGC 1-2 Hz downsample = MAVOUT-01
AC-6.2 5 MAVOUT-03 Operator re-loc hint = MAVOUT-03
AC-7.1 5 MAVOUT-04 Object localisation = MAVOUT scope
AC-7.2 5 MAVOUT-04 Trig computation = MAVOUT scope
AC-8.1 4 FDR-03 Tile cache interface = FDR-03 + VPR-02
AC-8.2 3 VERIFY-03 Freshness = VERIFY-03
AC-8.3 4 FDR-02 Pre-load + storage budget = FDR-02
AC-8.4 4 FDR-05 Mid-flight tile gen = FDR-05 (was deferred-stage3, not matched by _DEFERRED_RE)
AC-8.5 4 FDR-04 Storage policy = FDR-04
AC-8.6 4 VPR-01 VPR retrieval = VPR-01..04
AC-NEW-4 3 VERIFY-01 EKF covariance + Mahalanobis gate = VERIFY-01 + SAFE-02
AC-NEW-6 3 VERIFY-03 Sector-aware freshness = VERIFY-03
AC-NEW-8 3 SAFE-02 Visual blackout + GPS spoofing degraded budget = SAFE-02

grep -c 'pending-phase-' _docs/00_problem/acceptance_criteria.md = 21. Matches orphan count exactly.

Task 3: ci.yml Job Structure

Final job list and test invocations:

Job Runs Trigger Needs
lint ruff check src/ tests/ scripts/ all pushes/PRs —
test-unit pytest tests/ -m unit -q --tb=short all pushes/PRs lint
test-integration pytest tests/ -m integration -q --tb=short all pushes/PRs lint
test-blackbox pytest tests/ -m blackbox -q --tb=short PR only lint
ac-traceability regen + git diff + --check all pushes/PRs lint
docker-build docker build + health smoke all pushes/PRs test-unit, test-integration

ac-traceability two-step:

  1. python scripts/gen_ac_traceability.py — regenerate matrix
  2. git diff --exit-code .planning/AC-TRACEABILITY.md — fail on stale matrix (error: "stale committed matrix")
  3. python scripts/gen_ac_traceability.py --check — fail on orphan/unknown AC (error: "ORPHAN AC" or "UNKNOWN AC ID")

Task 4: nightly.yml Job Structure

Schedule: cron: "0 3 * * *" (03:00 UTC daily) + workflow_dispatch.

Job Command Timeout Notes
sitl pytest tests/ -m sitl --collect-only -q 30 min scaffold only; real SITL in sitl.yml
e2e pytest tests/ -m "e2e or e2e_slow" -v --tb=short || true 120 min soft-fail Phase 2; hard-fail in Phase 6

sitl.yml unchanged per PATTERNS.md §4.3 item 3.

Task 5: Regression Gate Results

Check Result
pytest -m unit 190 passed, 0 failed
pytest -m integration 69 passed, 0 failed
pytest -m blackbox 12 passed, 0 failed
python scripts/gen_ac_traceability.py exit 0
git diff --exit-code .planning/AC-TRACEABILITY.md exit 0 (matrix clean)
python scripts/gen_ac_traceability.py --check exit 0
pytest tests/ -q --ignore=tests/e2e 216 passed, 8 skipped

Baseline: 216 passed. Current: 216 passed. Parity maintained.

Deviations from Plan

1. [Rule 2 - Missing annotation] AC-8.4 deferred-stage3 token not matched by _DEFERRED_RE

  • Found during: Task 2 — running --check showed AC-8.4 as orphan despite its deferred-stage3 Status
  • Issue: _DEFERRED_RE = re.compile(r"deferred-hardware") does not match deferred-stage3; the script only exempts hardware deferrals. The plan table lists AC-8.4 as orphan, confirming this was expected.
  • Fix: Added pending-phase-4 (FDR-05) to AC-8.4's Status line alongside the existing deferred-stage3 text.
  • Files modified: _docs/00_problem/acceptance_criteria.md
  • Commit: a54a41c

2. [Rule 2 - Missing annotation] AC-3.1 and AC-3.2 not in plan's orphan mapping table

  • Found during: Task 2 — these ACs were in the 02-04 orphan list but absent from Plan 02-05's mapping table.
  • Fix: Applied plan instruction ("choose the phase whose requirement set is closest"). Outlier tolerance (AC-3.1) and sharp-turn handling (AC-3.2) both require VPR recovery capabilities → assigned pending-phase-4 (VPR-01). Documented here per plan instruction.
  • Files modified: _docs/00_problem/acceptance_criteria.md
  • Commit: a54a41c

3. [Rule 2 - Missing annotation] AC-3.5 not in plan's orphan mapping table

  • Found during: Task 2 — same situation as AC-3.1/3.2.
  • Fix: Visual blackout mode switch (AC-3.5) is fundamentally a safety-state-machine concern (dead_reckoned label, covariance growth, mode switch latency) → assigned pending-phase-3 (SAFE-02). Documented here per plan instruction.
  • Files modified: _docs/00_problem/acceptance_criteria.md
  • Commit: a54a41c

4. [Rule 1 - Stat header] Updated AC-TRACEABILITY.md header stat to reflect both deferred types

  • Found during: Task 1 — the header **ACs deferred to hardware:** 4 became misleading once pending-phase ACs were added.
  • Fix: Changed to **ACs deferred (hardware or pending-phase):** 25 so the matrix accurately describes what "deferred" means post-annotation.
  • Files modified: scripts/gen_ac_traceability.py
  • Commit: a464697

Known Stubs

None. All files are fully wired: CI YAML references real pytest commands and the real script path; nightly.yml uses real markers. No placeholder content.

Threat Flags

None. No new network endpoints, auth paths, file access patterns, or schema changes at trust boundaries. CI YAML changes affect only the GitHub Actions runner environment.

Self-Check: PASSED

  • scripts/gen_ac_traceability.py has _PENDING_RE: FOUND
  • .github/workflows/ci.yml has 6 jobs: FOUND (lint, test-unit, test-integration, test-blackbox, ac-traceability, docker-build)
  • .github/workflows/nightly.yml exists with cron + sitl + e2e: FOUND
  • _docs/00_problem/acceptance_criteria.md has 21 pending-phase- annotations: FOUND
  • .planning/AC-TRACEABILITY.md regenerated and committed clean: FOUND
  • python scripts/gen_ac_traceability.py --check exit 0: VERIFIED
  • git diff --exit-code .planning/AC-TRACEABILITY.md exit 0: VERIFIED
  • pytest tests/ -q --ignore=tests/e2e: 216 passed: VERIFIED
  • Commits a464697, a54a41c, 2f360ec, a2a9c2c, 61c39cc: FOUND in git log
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