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Oleksandr Bezdieniezhnykh f12789ebf0 [AZ-528] Consolidate c1_vio strategy facade orchestration spine

Replace 3-way byte-equivalent orchestration-spine duplication across
okvis2.py / vins_mono.py / klt_ransac.py with a single c1-internal
helper at components/c1_vio/_facade_spine.py. Closes cumulative
review batches 52-54 Finding F1. No behaviour change — all existing
AZ-332 / AZ-333 / AZ-334 AC tests pass unmodified (114 c1_vio tests
green, 237 with adjacent regression suite).

The helper exposes 5 stateless free functions (now_iso, bias_norm,
se3_from_4x4, frame_ts_ns, frame_image) and a FacadeSpine mixin
class providing _classify_state / _tick_lost / _emit_transition.
Concrete strategies inherit the mixin and set spine-required
instance attributes in __init__. Mirrors the AZ-527 precedent for
c2_vpr-side _assert_engine_output_dim consolidation.

New test file test_az528_facade_spine.py covers AC-1..AC-8 with 19
tests, including an AST regression guard that prevents future
re-introduction of the consolidated free functions in any strategy
module, plus a Risk-1 static check that every strategy's __init__
assigns every spine-required attribute.

Archive AZ-528 task spec to done/, bump autodev state to batch 56.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-14 03:03:16 +03:00

4.3 KiB

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Batch 55 — Cycle 1 Report

Date: 2026-05-14 Tasks: AZ-528 (Hygiene — c1_vio strategy facade orchestration-spine consolidation) Verdict: COMPLETE — PASS

Summary

Consolidated the 3-way orchestration-spine duplication across the c1_vio VioStrategy modules (okvis2.py, vins_mono.py, klt_ransac.py) into a single c1-internal helper module _facade_spine.py. Closes cumulative review batches 52-54 Finding F1 (Medium / Maintainability). Mirrors the AZ-527 precedent for the c2_vpr-side _assert_engine_output_dim consolidation. No behaviour change — every existing AZ-332 / AZ-333 / AZ-334 AC test passes unmodified.

Files added / modified

Added (2)

src/gps_denied_onboard/components/c1_vio/_facade_spine.py — new c1-internal helper, 225 lines. Exports 5 free functions (now_iso, bias_norm, se3_from_4x4, frame_ts_ns, frame_image) and the FacadeSpine mixin class (_classify_state, _tick_lost, _emit_transition).
tests/unit/c1_vio/test_az528_facade_spine.py — new test file, 19 tests covering AC-1..AC-8 + a Risk-1 mitigation test (each strategy's __init__ statically asserts that every spine-required attribute is assigned). All pass.

Modified (3)

src/gps_denied_onboard/components/c1_vio/okvis2.py — inherit from FacadeSpine; import the 5 free functions; delete the 5 local module-level definitions, 3 instance methods, and the unused _BIAS_NORM_FLOOR constant. Set the 3 spine-required attributes (_feature_threshold, _producer_id, _strategy_label) in __init__.
src/gps_denied_onboard/components/c1_vio/vins_mono.py — same pattern as okvis2.py.
src/gps_denied_onboard/components/c1_vio/klt_ransac.py — same pattern; spine threshold reads self._cfg.min_features_for_pose (the KLT-side equivalent of OKVIS2's degraded_feature_threshold). Deferred-consolidation comments referencing this PBI removed.

Tests

tests/unit/c1_vio/test_az528_facade_spine.py — 19 new tests, all pass.
tests/unit/c1_vio/ (full focused suite) — 120 collected, 114 pass + 6 tier-2 skipped (unchanged from pre-AZ-528 state).
Adjacent regression suite (test_az270_compose_root, test_az272_fdr_record_schema, test_az273_fdr_client_ringbuf, test_ac1_scaffold_layout, tests/unit/c1_vio/) — 237 pass + 6 skipped.

AC traceability

AC	Status	Notes
AC-1	✓	Helper module exposes documented surface.
AC-2	✓	`now_iso()` returns aware UTC `+00:00` ISO-8601.
AC-3	✓	`bias_norm` matches L2 formula (accel + gyro).
AC-4	✓	`se3_from_4x4` builds `gtsam.Pose3` identity correctly.
AC-5	✓	`_classify_state` INIT during warmup, T/D thresholds.
AC-6	✓	`_tick_lost` demotes T→D first call, escalates to LOST.
AC-7	✓	`_emit_transition` exactly one FDR record per change.
AC-8	✓	AST guard: 0 module-level free funcs in 3 strategies.
AC-9	✓	All AZ-332 / AZ-333 / AZ-334 AC tests pass unmodified.
AC-10	✓	AZ-270 layer-lint regression still passes.

Code review

See _docs/03_implementation/reviews/batch_55_review.md — verdict PASS, no findings.

Outcomes & lessons

Pattern of an "AST regression guard against duplicated free functions" continues to work well (AZ-508 / AZ-526 / AZ-527 / AZ-528 all use it). It catches re-introduction by future authors who don't know the consolidated home exists.
Mixin-via-instance-attributes (rather than constructor parameters) keeps strategy __init__ signatures stable — the AZ-331 factory signature (config, *, fdr_client) is preserved across all three strategies post-refactor.
A 3-point hygiene PBI was the right granularity: 1 new module, 3 small edits to existing strategies, 1 test file with AST + import regression guards. Same shape and complexity as AZ-527.

Outstanding

None for AZ-528. F2 from cumulative review batches 52-54 (test fake

_patch_pose_recovery helper consolidation) remains deferred — sits at a different abstraction layer and will ride a later hygiene pass.

4.3 KiB Raw Blame History