mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 16:41:13 +00:00
Oleksandr Bezdieniezhnykh
6c7d24f7e0
Freezes the c1_vio Public API per _docs/02_document/contracts/c1_vio/vio_strategy_protocol.md v1.0.0: - VioStrategy Protocol (4 methods: process_frame, reset_to_warm_start, health_snapshot, current_strategy_label) in components/c1_vio/interface.py. - DTOs (VioOutput, VioHealth, FeatureQuality, WarmStartPose) + VioState enum in _types/nav.py — L1 placement so C5 + C13 consume them without crossing the components.* boundary (AZ-270 AC-6). The new VioOutput shape (frame_id: str, relative_pose_T: gtsam.Pose3, pose_covariance_6x6, imu_bias, feature_quality, emitted_at_ns) replaces the AZ-263 scaffolding in _types/vio.py, which is now deleted. - VioError family (VioInitializingError / VioDegradedError / VioFatalError) in components/c1_vio/errors.py. Documented rationale: the degraded-operation path returns a VioOutput with inflated covariance + VioHealth.state=DEGRADED rather than raising VioDegradedError — the error type exists only for the rare degraded->fatal transition. - C1VioConfig per-component config block (strategy enum, lost_frame_threshold default 9, warm_start_max_frames default 5) with constructor-time validation rejecting unknown strategy labels. - StrategyNotAvailableError added to runtime_root/errors.py; composition-time error distinct from the VioError family. - Composition-root factory build_vio_strategy in runtime_root/vio_factory.py with three BUILD_* gates (BUILD_OKVIS2, BUILD_VINS_MONO, BUILD_KLT_RANSAC). Concrete strategy modules are imported lazily via __import__ AFTER the flag check — Tier-0 workstation builds with the flag OFF MUST NOT load the strategy module (Risk-2 / I-5; verifiable via sys.modules). - 36 conformance tests cover all 9 ACs + NFR-perf-factory (p99 build under 200 ms x 1000 calls) + NFR-reliability-error-family. AC-8 introspects the contract file's Shape table and asserts method parity against the runtime Protocol; AC-9 asserts the frame_id annotation is 'str' (PEP-563 stringified). C5 migration (consumers of the new VioOutput shape): - gtsam_isam2_estimator.py + eskf_baseline.py: replaced vio.timestamp -> vio.emitted_at_ns (drops _datetime_to_ns on the VIO path), vio.pose_se3 -> vio.relative_pose_T (gtsam.Pose3 direct; drops _pose_se3_to_gtsam / _pose_se3_to_array), vio.covariance_6x6 -> vio.pose_covariance_6x6 (rename). - key_for_frame signature widened to UUID | int | str to accept the new str frame_id. - 4 C5 test files migrated to the new VioOutput shape with helper fixtures producing ImuBias + FeatureQuality + str frame_id. - c5_state/interface.py TYPE_CHECKING import path updated. Bootstrap healthcheck + test_types_importable updated to drop the deleted _types/vio module and pick up _types/inference (AZ-297) in the same sweep. Full unit-test sweep: 884 passed, 2 pre-existing environment skips (cmake, actionlint). Co-authored-by: Cursor <cursoragent@cursor.com>
95 lines
3.2 KiB
Python
95 lines
3.2 KiB
Python
"""C1 ``VioStrategy`` Protocol (AZ-331).
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PEP 544 ``typing.Protocol`` with ``runtime_checkable=True``; four
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methods that span the camera-ingest hot path
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(``process_frame``), F8 reboot recovery (``reset_to_warm_start``),
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diagnostics (``health_snapshot``), and self-identification
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(``current_strategy_label``).
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Concrete impls — :class:`Okvis2Strategy` (AZ-332),
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:class:`VinsMonoStrategy` (AZ-333), :class:`KltRansacStrategy`
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(AZ-334) — live in sibling modules and are imported lazily by
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:mod:`gps_denied_onboard.runtime_root.vio_factory`.
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The contract at
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``_docs/02_document/contracts/c1_vio/vio_strategy_protocol.md``
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v1.0.0 is the authoritative shape; this module mirrors it 1:1.
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"""
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from __future__ import annotations
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from typing import TYPE_CHECKING, Literal, Protocol, runtime_checkable
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if TYPE_CHECKING:
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from gps_denied_onboard._types.calibration import CameraCalibration
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from gps_denied_onboard._types.nav import (
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ImuWindow,
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NavCameraFrame,
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VioHealth,
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VioOutput,
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WarmStartPose,
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)
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__all__ = ["VioStrategy"]
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@runtime_checkable
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class VioStrategy(Protocol):
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"""On-Jetson visual / visual-inertial odometry runtime.
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Implementations:
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:class:`Okvis2Strategy` (production-default, OKVIS2 SLAM),
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:class:`VinsMonoStrategy` (research-only),
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:class:`KltRansacStrategy` (mandatory simple-baseline per ADR-002).
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Selection is owned by the composition root.
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Invariants (see ``vio_strategy_protocol.md`` v1.0.0):
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- Single-threaded per instance (one camera-ingest writer thread).
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- ``current_strategy_label()`` is constant per instance and
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equals ``config.vio.strategy`` exactly.
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- Error envelope is closed — only members of
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:class:`VioError` escape ``process_frame``.
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"""
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def process_frame(
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self,
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frame: "NavCameraFrame",
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imu: "ImuWindow",
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calibration: "CameraCalibration",
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) -> "VioOutput":
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"""Camera-ingest hot-path call (one per nav-camera frame).
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``VioOutput.frame_id`` MUST equal ``frame.frame_id`` (C5
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alignment invariant). Raises :class:`VioInitializingError`
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while booting (state == INIT; no output emitted) and
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:class:`VioFatalError` once ``consecutive_lost`` exceeds the
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configured threshold. During DEGRADED operation the method
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returns normally with an inflated covariance — NOT raises
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:class:`VioDegradedError`.
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"""
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...
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def reset_to_warm_start(self, hint: "WarmStartPose") -> None:
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"""Destructive re-init from an F8-reboot warm-start hint.
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Clears keyframe window, IMU integration state, feature
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tracks. Subsequent ``process_frame`` calls re-initialise from
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the hint. Raises :class:`VioFatalError` only on irrecoverable
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backend init failure.
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"""
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...
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def health_snapshot(self) -> "VioHealth":
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"""Most-recent health state — FDR-stamped per the AC-NEW-3 audit."""
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...
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def current_strategy_label(
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self,
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) -> Literal["okvis2", "vins_mono", "klt_ransac"]:
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"""Identify which concrete strategy is wired here.
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Returned string equals ``config.vio.strategy`` exactly.
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AC-NEW-3 FDR audit relies on this property.
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"""
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...
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