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Oleksandr Bezdieniezhnykh 72a9df6b57 [AZ-219] [AZ-228] Generalize VIO component layout

Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.

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

2026-05-03 12:41:54 +03:00

5.4 KiB

Raw Blame History

Work Item Epics

Tracker: Jira
Project: AZAION (AZ)
Date: 2026-05-01
Labels: gps-denied-onboard-plan, autodev
Lessons applied: No _docs/LESSONS.md file exists; no prior estimation or dependency lessons were available.

Dependency Order

Order	Jira ID	Epic	Type	Depends On	Estimate
1	AZ-206	Bootstrap & Initial Structure	bootstrap	none	M / 5-8 pts
2	AZ-207	Cross-Cutting: Shared Geometry And Time Sync	cross-cutting	AZ-206	S-M / 3-5 pts
3	AZ-208	Cross-Cutting: Runtime Configuration And Errors	cross-cutting	AZ-206	S-M / 3-5 pts
4	AZ-209	Camera Ingest And Calibration	component	AZ-206, AZ-207, AZ-208	M / 5-8 pts
5	AZ-210	MAVLink And GCS Integration	component	AZ-206, AZ-208	M / 5-8 pts
6	AZ-211	Tile Manager	component	AZ-206, AZ-207, AZ-208	L / 8-13 pts
7	AZ-212	FDR And Observability	component	AZ-206, AZ-208	M-L / 5-8 pts
8	AZ-213	VIO Adapter	component	AZ-206, AZ-207, AZ-208, AZ-209, AZ-210	L / 8-13 pts
9	AZ-214	Satellite Service	component	AZ-206, AZ-207, AZ-208, AZ-209, AZ-211	L / 8-13 pts
10	AZ-215	Anchor Verification	component	AZ-206, AZ-207, AZ-208, AZ-209, AZ-211, AZ-214	L / 8-13 pts
11	AZ-216	Safety And Anchor Wrapper	component	AZ-206, AZ-207, AZ-208, AZ-209, AZ-210, AZ-213, AZ-215	XL / 13-21 pts
12	AZ-217	E2E Test Suite	test-support	component epics	L / 8-13 pts
13	AZ-218	Blackbox Tests	blackbox-tests	AZ-217, component epics	L / 8-13 pts

Component Mapping

Component / Artifact	Epic
Project scaffold, shared DTOs, migrations, CI skeleton	AZ-206
`common-helpers/01_helper_geo_geometry.md`	AZ-207
`common-helpers/02_helper_time_sync.md`	AZ-207
Runtime config, error contracts, health checks	AZ-208
`components/01_camera_ingest_calibration/`	AZ-209
`components/02_vio_adapter/`	AZ-213
`components/03_safety_anchor_wrapper/`	AZ-216
`components/04_satellite_retrieval/`	AZ-214
`components/05_anchor_verification/`	AZ-215
`components/06_cache_tile_lifecycle/`	AZ-211
`components/07_mavlink_gcs_integration/`	AZ-210
`components/08_fdr_observability/`	AZ-212
`tests/e2e-test-suite.md`, `tests/blackbox-tests.md`, `tests/environment.md`	AZ-217
System blackbox/performance/resilience/security/resource tests	AZ-218

Epic Relationship Diagram

flowchart TD
    bootstrap[AZ-206 Bootstrap]
    geo[AZ-207 Shared Geometry And Time Sync]
    config[AZ-208 Runtime Configuration And Errors]
    camera[AZ-209 Camera Ingest]
    mavlink[AZ-210 MAVLink And GCS]
    cache[AZ-211 Tile Manager]
    fdr[AZ-212 FDR And Observability]
    vio[AZ-213 VIO Adapter]
    retrieval[AZ-214 Satellite Service]
    anchor[AZ-215 Anchor Verification]
    safety[AZ-216 Safety And Anchor Wrapper]
    validation[AZ-217 E2E Test Suite]
    blackbox[AZ-218 Blackbox Tests]

    bootstrap --> geo
    bootstrap --> config
    bootstrap --> camera
    bootstrap --> mavlink
    bootstrap --> cache
    bootstrap --> fdr
    geo --> camera
    geo --> cache
    geo --> vio
    geo --> retrieval
    geo --> anchor
    geo --> safety
    config --> camera
    config --> mavlink
    config --> cache
    config --> fdr
    config --> vio
    config --> retrieval
    config --> anchor
    config --> safety
    camera --> vio
    mavlink --> vio
    camera --> retrieval
    cache --> retrieval
    retrieval --> anchor
    camera --> anchor
    cache --> anchor
    vio --> safety
    anchor --> safety
    mavlink --> safety
    safety --> cache
    safety --> mavlink
    safety --> fdr
    camera --> fdr
    cache --> fdr
    safety --> validation
    fdr --> validation
    camera --> validation
    mavlink --> validation
    retrieval --> validation
    anchor --> validation
    cache --> validation
    validation --> blackbox

Cross-Cutting Ownership

Concern	Owner Epic	Rule
Geospatial math, WGS84/local conversions, GSD, footprints	AZ-207	Components consume shared helper; no local duplicate implementations
Timestamp validation, IMU/frame alignment, replay ordering	AZ-207	Components consume shared helper; no local duplicate implementations
Runtime configuration, environment profiles, startup validation	AZ-208	Components consume shared config loader and health-check contract
Shared error/result envelopes	AZ-208	Components use shared error categories and do not swallow failures

Created Jira Epics

AZ-206 — Bootstrap & Initial Structure
AZ-207 — Cross-Cutting: Shared Geometry And Time Sync
AZ-208 — Cross-Cutting: Runtime Configuration And Errors
AZ-209 — Camera Ingest And Calibration
AZ-210 — MAVLink And GCS Integration
AZ-211 — Tile Manager
AZ-212 — FDR And Observability
AZ-213 — VIO Adapter
AZ-214 — Satellite Service
AZ-215 — Anchor Verification
AZ-216 — Safety And Anchor Wrapper
AZ-217 — E2E Test Suite
AZ-218 — Blackbox Tests

Tracker Notes

Jira authentication succeeded. A transient Jira server-side PostgreSQL timeout occurred while creating Blackbox Tests; the write was recorded under _docs/_process_leftovers/ and then successfully retried as AZ-218. The leftover entry was deleted after replay success.

5.4 KiB Raw Blame History