gps-denied-onboard/_docs/03_implementation/implementation_completeness_cycle2_report.md

Product Implementation Completeness Gate — Cycle 2

Date: 2026-05-20 Scope: 6 product tasks completed in cycle 2 — AZ-697, AZ-702, AZ-698, AZ-699, AZ-700, AZ-701 (epic AZ-696 "operator-side replay tooling") Gate verdict: PASS — all 6 tasks classified PASS, 0 BLOCKED, 0 FAIL Final test run handoff: Step 11 (Run Tests) on the Jetson harness — see Notes

Per-task Classification

Task	Component	Status	Production code	Named runtime deps integrated	AC coverage
AZ-697	replay_input + helpers	PASS	replay_input/tlog_ground_truth.py, helpers/gps_compare.py (GroundTruthRow, l2_horizontal_m, match_percentage)	pymavlink.mavutil (binary tlog reader)	5/5 ACs
AZ-702	_docs/input_data	PASS	_docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json + tests/e2e/replay/conftest.py::_calibration_path()	n/a (static factory-sheet JSON)	4/4 ACs
AZ-698	replay_input + cli + runtime_root	PASS	replay_input/auto_sync.py + replay_input/interface.AlignedWindow + --auto-trim flag in cli/replay.py + c8_fc_adapter/tlog_replay_adapter.py (tlog_start_ns skip) + composition-root plumbing	OpenCV optical-flow, numpy NCC	7/7 ACs (incl. AC-9 frame-window-match validator)
AZ-699	helpers + tests/e2e/replay	PASS	helpers/gps_compare.HorizontalErrorDistribution + helpers/accuracy_report.py (promoted in AZ-701) + tests/e2e/replay/test_derkachi_real_tlog.py	real gps-denied-replay --auto-trim subprocess (AZ-402 + AZ-698)	All ACs; PASS/FAIL test gated on Jetson e2e
AZ-700	cli + helpers	PASS	cli/render_map.py (gps-denied-render-map console-script)	folium / Leaflet (gated under [operator-tools] extra; airborne cold-start untouched)	14/14 unit tests
AZ-701	replay_api + cli + helpers	PASS	replay_api/{__init__,errors,interface,storage,jobs,handlers,app}.py + cli/replay_api_entrypoint.py + helpers/accuracy_report.py + Docker image	FastAPI/uvicorn/python-multipart (operator-only); real subprocess to gps-denied-replay + gps-denied-render-map	7 ACs (AC-1, AC-2, AC-3, AC-5, AC-6, AC-8, AC-9) all covered by 18 unit tests

Evidence Checked

Unresolved-placeholder scan (markers: TODO, FIXME, XXX, HACK, NotImplemented, placeholder, scaffold, stub, deterministic fallback, fake runner, native bridge)

• src/gps_denied_onboard/replay_api/* — 1 hit in __init__.py:14 ("a fake runner") inside a module docstring describing the unit-test DI pattern. Not a code stub. ✅
• src/gps_denied_onboard/replay_input/* — 0 hits. ✅
• src/gps_denied_onboard/helpers/gps_compare.py — 0 hits. ✅
• src/gps_denied_onboard/helpers/accuracy_report.py — 2 hits at lines 56 / 90, both docstrings describing the calibration_method STRING FIELD which can take value "factory-sheet" (AZ-702 path) or "placeholder" (legacy adti26 fallback label). Not unimplemented code. ✅
• src/gps_denied_onboard/cli/render_map.py — 0 hits. ✅
• src/gps_denied_onboard/cli/replay_api_entrypoint.py — 0 hits. ✅

No unresolved placeholder / stub / scaffold / native-bridge markers in any cycle-2 production module.

Named-runtime-dependency integration

Task	Promised dependency	Where integrated	Adapter or real call?
AZ-697	pymavlink.mavutil binary tlog reader	replay_input/tlog_ground_truth.py::_load_with_mavutil (lazy import → mavutil.mavlink_connection)	Real call; missing pymavlink raises ReplayInputAdapterError
AZ-698	OpenCV optical flow, numpy NCC	replay_input/auto_sync.py::_compute_video_onset_from_samples (cv2 pyramidal Lucas-Kanade) + _frame_window_match	Real calls; lazy import gated on env
AZ-699	end-to-end gps-denied-replay --auto-trim invocation	tests/e2e/replay/test_derkachi_real_tlog.py::test_az699_real_derkachi_flight_passes_ac3 shells out via subprocess.run([…, "--auto-trim"])	Real subprocess against the production console script
AZ-700	folium HTML map rendering	cli/render_map.py::render_map_html constructs folium.Map + adds folium.PolyLine, folium.Marker, folium.Circle layers	Real folium calls
AZ-701	FastAPI/uvicorn HTTP, real pipeline subprocess	replay_api/app.py::SubprocessReplayRunner.run calls subprocess.run([self._replay_binary, …, "--auto-trim"], …) with argv list (no shell=True); then _maybe_render_map invokes gps-denied-render-map likewise	Real subprocess; tests inject a fake ReplayRunner via the Protocol DI seam
AZ-702	Topotek KHP20S30 factory-sheet intrinsics	JSON committed to _docs/00_problem/input_data/flight_derkachi/khp20s30_factory.json; _calibration_path() in conftest.py prefers it when present	Real data; assumptions documented in camera_info.md

Every named dependency is integrated as production behaviour. No deterministic fallbacks substituted for promised runtime calls, no empty native/ packages, no Protocol-only surfaces shipped without implementation.

End-to-end production pipeline (Step 7 of gate)

The cycle-2 architecture promise — "operator uploads (tlog + video [+ calibration]); receives back GPS-fix JSONL + accuracy report + HTML map" — has an executable production path wired through:

1. POST /replay → replay_api.app route handler
2. replay_api.handlers.validate_* magic-byte checks + bearer-token extraction
3. replay_api.storage.StorageRoot.allocate_job per-job temp dir
4. replay_api.jobs.JobRegistry.submit queues to ThreadPoolExecutor
5. replay_api.app.SubprocessReplayRunner.run shells out to gps-denied-replay --auto-trim (AZ-402 + AZ-698)
6. emissions.jsonl written to the per-job dir
7. SubprocessReplayRunner._maybe_render_report loads ground truth via replay_input.load_tlog_ground_truth (AZ-697), computes helpers.gps_compare.horizontal_error_distribution (AZ-697/699), and renders helpers.accuracy_report.render_report (AZ-699/701)
8. SubprocessReplayRunner._maybe_render_map invokes gps-denied-render-map (AZ-700)
9. Job state transitions to DONE; static endpoints serve the three artefacts under stable URLs (/jobs/{id}/result, /jobs/{id}/report, /jobs/{id}/map)

Each step is real code calling real dependencies, not a stub or harness-only orchestration.

Internal vs external prerequisites (Step 5 of gate)

All cycle-2 work is operator-side (no airborne path touched). The only external prerequisite for any task is the real Derkachi flight artefacts (derkachi.tlog, flight_derkachi.mp4, khp20s30_factory.json) — and that prerequisite is satisfied within the repo (_docs/00_problem/input_data/flight_derkachi/). AZ-699's e2e test gates with explicit RUN_REPLAY_E2E=1 env + minimum video size + console-script presence (skip-with-reason, not @xfail / silent-skip), which matches the gate rule: "Environment-gated tests may skip only with an explicit prerequisite reason; they do not make missing production code complete."

No BLOCKED classifications — every task has its production code complete.

Cross-Cutting Findings (none block this gate)

• F1 from cumulative review (module-layout.md is stale for the 6 new artefacts): an Architecture documentation gap, not a production-code gap. Production code respects the layering; the doc has not caught up. Owned by Step 13 (Update Docs).
• F2 from cumulative review (inline imports in replay_api/app.py:_maybe_render_report): style nit, Low severity.

Neither finding is a Completeness Gate FAIL trigger.

Verdict

PASS — all 6 cycle-2 product tasks are classified PASS. The implement skill may write the final implementation report and hand off to Step 11 (Run Tests) for the e2e Jetson reality-gate execution.

Notes

• Reality-gate signal still owed: this gate verifies production code shape, not end-to-end runtime behaviour. The first actual end-to-end exercise of cycle-2 production code (real Derkachi tlog + real video + factory calibration through replay_api → gps-denied-replay → gps-denied-render-map → accuracy report) is owned by Step 11 on the Jetson harness. The completeness gate does not pre-emptively grant Step 11 a PASS.
• No remediation tasks created: the gate's only outputs are the F1 doc-drift and F2 style nit, both handled within existing cycle-2 steps (Step 13 Update Docs + retrospective). No remediate_*.md files added to _docs/02_tasks/todo/.