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Oleksandr Bezdieniezhnykh be5c6d20aa [AZ-589] [AZ-590] Close completeness gate cycle 1: VIO remediation tasks

The Product Implementation Completeness Gate (cycle 1, 2026-05-16)
audited 107 done product tasks. 105 PASS / 0 BLOCKED / 2 FAIL.

FAIL findings — both AZ-332 (OKVIS2) and AZ-333 (VINS-Mono) ship a
real Python facade + AC-tested fake backend, but their native pybind11
bindings (_native/okvis2_binding.cpp, _native/vins_mono_binding.cpp)
are skeletons: _build_estimator() sets estimator_built_ = false; the
first add_frame() raises *FatalException("estimator not yet wired").
Production-default VIO and the comparative-study path both crash on
the first nav-camera frame.

Remediation tasks created in _docs/02_tasks/todo/:
  - AZ-589  remediate_okvis2_threadedkfvio_wiring  (5pt)
  - AZ-590  remediate_vins_mono_estimator_wiring   (5pt)

Both tasks also seed the per-binary bootstrap register_strategy() call
sites — the existing strategy registry in runtime_root/__init__.py is
never invoked in src/ today.

Artifacts:
  - _docs/03_implementation/implementation_completeness_cycle1_report.md
  - _docs/02_tasks/todo/AZ-589_remediate_okvis2_threadedkfvio_wiring.md
  - _docs/02_tasks/todo/AZ-590_remediate_vins_mono_estimator_wiring.md
  - _docs/02_tasks/_dependencies_table.md  (+2 rows; totals refreshed)
  - _docs/_autodev_state.md                (Step 7 phase 1 parse;
                                            current_batch: 66)

Returning to implement-skill Step 1 to parse Batch 66 against these
remediation tasks (per Step 15 option A).

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

2026-05-16 10:24:38 +03:00

19 KiB

Raw Blame History

Product Implementation Completeness Gate — Cycle 1

Date: 2026-05-16 Cycle: 1 Tasks audited: 107 done product tasks under _docs/02_tasks/done/ (the six hygiene-only specs and AZ-525-class follow-ups are included as PASS because they don't promise new runtime behavior). Audit scope: every task spec's Description / Outcome / Scope.Included / Acceptance Criteria / Non-Functional Requirements / Constraints / Runtime Completeness block against actual source under src/gps_denied_onboard/.

Verdict

FAIL — Step 7 must not advance.

Two product tasks (AZ-332 OKVIS2, AZ-333 VINS-Mono) shipped a Python facade + pybind11 binding skeleton but DID NOT wire the actual upstream estimator (okvis::ThreadedKFVio / vins_estimator::Estimator). The binding compiles and loads, then throws a fatal exception on the first add_frame call. The production-default C1 VioStrategy therefore cannot process a single nav-camera frame on a real binary.

Both task specs explicitly anticipated this split — AZ-332 § Implementation Notes (2026-05-12, batch 23) names the follow-up AZ-332_tier2_validation and states that this gate (Step 15) is the designated creator. AZ-333 carries the same skeleton pattern but no self-deferral note. This report executes that contract.

Per implement/SKILL.md § 15 ("If any product task is FAIL, STOP. Do not write the final product implementation report and do not proceed to any downstream autodev step."), Step 7 stays in_progress; remediation tasks are proposed below; the original task files remain in done/ and do NOT regress to todo/.

FAIL findings

AZ-332 — C1 OKVIS2 Strategy (production-default VIO)

Promised capability: "production-default VioStrategy ... Python facade over the OKVIS2 C++ tightly-coupled keyframe-based VIO core" (AZ-332_c1_okvis2_strategy.md § Description). Runtime Completeness explicitly lists "real per-frame OKVIS2 estimator update; real covariance read from OKVIS2's internal Hessian" as required, and explicitly forbids "a pre-built deterministic-fallback VioOutput while OKVIS2 is 'compiled out'".

Evidence:

src/gps_denied_onboard/components/c1_vio/okvis2.py — 339-line Python facade. Conforms to the AZ-331 VioStrategy Protocol. PASS.
src/gps_denied_onboard/components/c1_vio/_native/okvis2_binding.cpp — pybind11 module compiles + loads but _build_estimator() always sets estimator_built_ = false. _drive_estimator() (called on the first add_frame) throws OkvisFatalException("OKVIS2 estimator not yet wired — this binding is the AZ-332 skeleton"). FAIL.
OKVIS2 upstream is never #include'd (the #include <okvis/ThreadedKFVio.hpp> line is commented out, line 48 of the binding).

Self-documentation: AZ-332 task spec, Implementation Notes (2026-05-12, batch 23) — "This batch — production-quality Python facade ... pybind11 binding source that compiles + loads but throws ... ; Tier-2 follow-up — actual okvis::ThreadedKFVio wiring ... The follow-up task is named AZ-332_tier2_validation and will be created by the Product Implementation Completeness Gate at end-of-cycle (Step 15) per implement/SKILL.md."

Blast radius: the deployment binary (config.vio.strategy = "okvis2", BUILD_OKVIS2=ON) cannot run F3 (Steady-state per-frame estimation) — the first nav-camera frame raises VioFatalError. C5 fusion, C8 outbound, GCS telemetry, mid-flight tile gen all sit on top of this.

AZ-333 — C1 VINS-Mono Strategy (research-only VIO)

Promised capability: Runtime Completeness requires "real VinsMonoStrategy class implementing the AZ-331 Protocol; real pybind11 binding to cpp/vins_mono/ (real VINS-Mono upstream, de-ROSified); real per-frame estimator update".

Evidence:

src/gps_denied_onboard/components/c1_vio/vins_mono.py — 448-line Python facade. Conforms to the AZ-331 Protocol. PASS.
src/gps_denied_onboard/components/c1_vio/_native/vins_mono_binding.cpp — same skeleton pattern as OKVIS2. _drive_estimator() throws VinsMonoFatalException("VINS-Mono estimator not yet wired — this binding is the AZ-333 skeleton"). FAIL.

Self-documentation: no explicit Implementation Notes block (unlike AZ-332), but the binding's source comment names "AZ-333's tier2 deliverable bundle".

Blast radius: limited — VINS-Mono is research-only (BUILD_VINS_MONO=ON) and not linked into the deployment binary (ADR-002). The IT-12 comparative-study research binary cannot run today; the deployment binary is unaffected by AZ-333 specifically.

PASS — by component

107 audited tasks, 105 PASS, 0 BLOCKED, 2 FAIL.

Tasks classified as PASS have at least one of:

A substantial Python/C++ source artifact under the task's owned component (module-layout.md ownership envelope).
A self-contained pure-Python implementation backed by the named third-party dependency (OpenCV, GTSAM, FAISS, TensorRT, ONNX-Runtime, PyTorch, pymavlink, psycopg, atomicwrites, httpx).
For "Implementation Notes" tasks (AZ-300 / AZ-301 / AZ-302), the named capability is implemented and the deferral covers either a warm-up optimization, a Tier-2 NVML test skip, or a Tier-2 hot-path perf microbench — none of which materially block runtime behavior.

Foundation + cross-cutting (10 tasks) — all PASS

Task	Title	Evidence
AZ-263	initial structure	`src/` skeleton present; package importable.
AZ-266	log module	`gps_denied_onboard.logging` package.
AZ-267	fdr log bridge	producer-id-tagged log → FDR records.
AZ-268	log schema contract test	shipped in tests.
AZ-269	config loader	`gps_denied_onboard.config` (env + YAML).
AZ-270	compose root	`runtime_root/__init__.py` (`compose_root`, `compose_operator`).
AZ-271	config precedence tests	shipped.
AZ-507	hygiene module-layout AZ-270 alignment	lint test `tests/unit/test_az270_compose_root.py`.
AZ-508 / AZ-526	iso-timestamp consolidation	`helpers/iso_timestamps.py`.
AZ-527	engine-dim assertion consolidation	`components/c2_vpr/_engine_dim_assertion.py` + sibling under c3.
AZ-528	c1 vio facade spine consolidation	`_facade_spine.py`.

FDR / FdrClient (4 tasks) — all PASS

Shared helpers (8 tasks) — all PASS

C13 FDR writer (6 tasks) — all PASS

C7 Inference (6 tasks) — all PASS (notable deferrals are documented + non-blocking)

C6 Tile cache (6 tasks) — all PASS

C11 Tile manager (5 tasks) — all PASS

C10 Provisioning (5 tasks) — all PASS

C12 Operator orchestrator (5 tasks) — all PASS

C1 VIO (5 tasks) — 1 PASS, 2 FAIL, 2 PASS

C2 VPR (6 tasks) — all PASS

Note: src/gps_denied_onboard/components/c2_vpr/_native/__init__.py contains only the line """Native bindings for VPR runtime — placeholder.""". The C2 strategies route inference through C7 (TensorRT / ONNX-RT / PyTorch), so this _native/ directory is empty by design (no extant task promises VPR-specific C++ code). Recommend deleting the directory in a future hygiene pass; not a FAIL today.

C2.5 Re-rank (2 tasks) — both PASS (with one noted concern, see § Notes)

C3 Cross-domain matcher (4 tasks) — all PASS

Note: c3_matcher/_native/__init__.py is similarly an empty placeholder — same situation as C2's _native/. Hygiene cleanup, not a FAIL.

C3.5 AdHoP refinement (2 tasks) — both PASS

| AZ-348 | refiner protocol | c3_5_adhop/interface.py. | | AZ-349 | AdHoP refiner | 509-line adhop_refiner.py; real C7-backed AdHoP engine load. Note: runtime_root/refiner_factory.py docstring still calls AdHoPRefiner "placeholder today" — that comment is stale; the production class is real. Hygiene fix recommended (one-line doc update). |

C4 Pose estimation (3 tasks) — all PASS

C5 State estimator (9 tasks) — all PASS

C8 FC adapter (8 tasks) — all PASS

Replay path (8 tasks) — all PASS

Notes / non-blocking observations

Production composition root has no per-binary bootstrap module registering strategies. runtime_root/__init__.py defines a strategy registry (register_strategy, _resolve_strategy) and topo-sorts constructed components, but register_strategy is never called anywhere in src/. compose_root(config) would raise StrategyNotLinkedError on every C1-C8 slug if invoked today. This is the "per-binary bootstrap module" the AZ-263 / AZ-270 prose anticipates — a separate concern from any one task and arguably out of scope for this gate (the registry seam exists; the actual registration lives in a not-yet-written bootstrap module). Recommend surfacing as a separate cross-cutting task (E-CC-CONF or E-BOOT).
helpers/feature_extractor.py::OpenCvOrbExtractor is documented as a placeholder ("Production deployments MUST replace this extractor with a deep-learning backbone before flight (tracked under the future C2.5 backbone-extractor task)"). No DISK/ALIKED extractor exists. C2.5 (AZ-343) uses an injected FeatureExtractor; the only concrete impl is ORB. AZ-343's spec does NOT name DISK/ALIKED, so this is a known-future-task gap rather than an AZ-343 FAIL — but the prod composition root will need a non-ORB extractor before flight. Recommend surfacing as a follow-up task (5 points or less).
_types/tile.py scaffolding DTOs (Tile, TileRecord) are no longer referenced by any module under src/. Dead code per coderule.mdc. Recommend deleting in a hygiene PBI; not a Gate FAIL.
runtime_root/refiner_factory.py docstring describes AdHoPRefiner as "placeholder today" — stale comment; the production class is real. One-line doc fix.
c2_vpr/_native/__init__.py and c3_matcher/_native/__init__.py are empty placeholder modules. C2/C3 strategies route inference through C7; no native code is owed. Recommend deleting both directories.
Process leftover 2026-05-11_d_cross_cve_1_opencv_pin_deferred.md remains open (gtsam still numpy 1.x). Not blocking for this gate.

Remediation tasks proposed

Per implement/SKILL.md § 15 remediation task creation rules: each remediation task is sized at ≤ 5 points; depends on its failed parent; goes to _docs/02_tasks/todo/; tracker tickets to be created on user approval (Jira availability gate per .cursor/rules/tracker.mdc).

Proposed task 1 — `remediate_AZ-332_okvis2_threadedkfvio_wiring`

Parent FAIL: AZ-332.
Goal: wire okvis::ThreadedKFVio inside _native/okvis2_binding.cpp (_build_estimator() and _drive_estimator()); enable the commented-out includes; instantiate the estimator from yaml_config_; attach the output callback that fills latest_output_ under output_mtx_; CI matrix that installs Ceres + initialises OKVIS2's vendored submodules.
Complexity: 5 points.
Dependencies: AZ-332, AZ-276, AZ-277.
Out of scope: AC-9 honest-covariance Tier-2 validation against Derkachi-class fixtures (separate Tier-2 perf task).

Proposed task 2 — `remediate_AZ-333_vins_mono_estimator_wiring`

Parent FAIL: AZ-333.
Goal: wire vins_estimator::Estimator + feature_tracker inside _native/vins_mono_binding.cpp; enable the de-ROSified VINS-Mono pin build; ensure the same Protocol-conforming output shape as OKVIS2; research-only.
Complexity: 5 points.
Dependencies: AZ-333, AZ-276, AZ-277.
Out of scope: IT-12 comparative-study harness (lives in E-BBT).

If either remediation task grows beyond 5 points during decomposition, split into infrastructure + estimator-wiring + per-frame-cov-read sub-tasks before scheduling.

Gate decision

Per implement/SKILL.md § 15:

If any product task is FAIL, STOP. Do not write the final product implementation report and do not proceed to any downstream autodev step. Completed original task files remain in done/; the missing work is represented by remediation tasks.

State: Step 7 stays in_progress. The Choose block in the next agent message presents the operator A/B/C options. The two remediation tasks above will be created on user direction.

End of report.

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