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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>
gps-denied-onboard
Companion onboard system for GPS-denied UAV navigation. Detailed design and architecture documentation lives under _docs/.
Quick links
- Problem statement:
_docs/00_problem/problem.md - Architecture:
_docs/02_document/architecture.md - Module layout (file ownership):
_docs/02_document/module-layout.md - Component docs:
_docs/02_document/components/ - Test specs:
_docs/02_document/tests/ - Deployment:
_docs/02_document/deployment/
Local development
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"
pytest -q tests/unit/
For full Tier-1 integration via Docker, see _docs/02_document/deployment/containerization.md.
Build matrix
Four binaries built from this codebase: airborne, research, operator-tooling, replay-cli. CMake BUILD_* flags gate component inclusion per binary — see cmake/build_options.cmake and _docs/02_document/module-layout.md § Build-Time Exclusion Map.