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Oleksandr Bezdieniezhnykh
48281db9e9
F1 (High/Architecture) from cumulative review of batches 01-22: `ISam2GraphHandleImpl` did not satisfy C4's `ISam2GraphHandle` Protocol stub (AZ-355) because it lacked `get_pose_key`. `pose_factory`'s isinstance gate would have raised at composition. Two Protocols (C4 minimal consumer cut, C5 richer producer surface) are intentional per AZ-355 Risk 1 — the impl just needed to expose the canonical name. Delegates to estimator.key_for_frame. Added cross-component conformance test asserting the C5 impl satisfies both Protocols, so future drift trips a unit test. F2 (Medium/Maintainability): added justifying comments at four `except: pass` sites in runtime_root, c8_fc_adapter (ap + inav), and c13_fdr writer. No behavioral change. Updated cumulative review report verdict from FAIL to PASS and recorded a post-mortem on the initial misframing (treated the dual-Protocol design as duplication on first read). Autodev state: batch 22 done, cumulative-review PASS, ready for batch 23. Co-authored-by: Cursor <cursoragent@cursor.com>