mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 23:31:13 +00:00
Oleksandr Bezdieniezhnykh
88f6ae6dce
Shared retrieve_topk plumbing for every concrete C2 VprStrategy:
- FaissBridge centralises the c6 search_topk → VprResult pipeline,
the defended-in-depth INV-4 check (exactly k, distance-ascending),
the WARN-threshold check on distances[0], optional per-frame DEBUG
log, and one `vpr.retrieve_topk` FDR record per call with latency
measurement.
- DescriptorIndexCut Protocol — consumer-side structural cut of c6
DescriptorIndex.search_topk (AZ-507); keeps c2_vpr c6-import-free.
- C2VprConfig gains warn_top1_threshold + debug_per_frame_distances
knobs with validators.
- KNOWN_PAYLOAD_KEYS registers vpr.retrieve_topk for the FDR record
schema with payload {frame_id, backbone_label, top10_distances,
latency_us}; companion fixture added to the AZ-272 roundtrip suite.
- 22 unit tests cover AC-1..AC-11 + NFR-perf microbench (p95 ≤ 0.5 ms)
+ constructor and retrieve-argument validation.
Verdict: PASS_WITH_WARNINGS (2 Low findings — duplicated ISO-ts
helper across c2/c5/c11/c12, captured in AZ-508 hygiene PBI;
spec-listed but unused `normaliser` parameter dropped — INV-3 makes
the embedding L2-normalised at the strategy's `embed_query`).
Tests: 1565 passed / 80 skipped (was 1543; +22 new tests).
Co-authored-by: Cursor <cursoragent@cursor.com>
17 lines
294 B
Markdown
17 lines
294 B
Markdown
# Autodev State
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## Current Step
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flow: greenfield
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step: 7
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name: Implement
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status: in_progress
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sub_step:
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phase: 7
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name: batch-loop
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detail: "batch 45 — AZ-341 (C2 FAISS retrieve wiring)"
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retry_count: 0
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cycle: 1
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tracker: jira
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last_completed_batch: 44
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last_cumulative_review: batches_40-42
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