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Oleksandr Bezdieniezhnykh
8149083cac
Adds the Layer-4 cross-cutting `replay_input/` module per ADR-011: ReplayInputAdapter converges (video, tlog) into the standard FrameSource + FcAdapter + Clock surfaces the airborne composition root consumes. Owns time-alignment between video frames and tlog IMU/attitude ticks (manual via --time-offset-ms or auto via the AZ-405 IMU-take-off detector + Farneback motion-onset detector). Auto-sync algorithm (auto_sync.py): - Tlog take-off detector: sustained vertical-accel excess > 0.5 g for >= 0.5 s + sustained attitude-rate magnitude > 1 rad/s. - Video motion-onset detector: dense Farneback flow magnitude > 1.5 px sustained >= 0.5 s (deterministic per AC-10). - compute_offset combines the two; confidence = min(tlog, video). - validate_offset_or_fail implements the AC-9 95 % frame-window match validator with configurable threshold + window. ReplayInputAdapter.open() ordering (AC-13): 1. Load tlog samples + fail-fast on missing RAW_IMU/SCALED_IMU2 or ATTITUDE BEFORE any video read. 2. Resolve offset (auto-sync OR manual override; manual bypasses the detectors entirely per AC-8). 3. Run AC-9 validator on resolved offset; raise auto-sync hard-fail for AC-7 (CLI exit 2 mapping). 4. Build single Clock instance per pace (TlogDerived/ASAP, Wall/REAL). 5. Construct VideoFileFrameSource and TlogReplayFcAdapter with the resolved offset baked in (replay protocol Invariant 8). Structured log + FDR records on auto-sync detected / low-confidence / AC-8 hard-fail kinds. Idempotent close (AC-12). Tests: 25 unit tests across tests/unit/replay_input/ covering all 13 ACs (kernel-level synthetic fixtures for AC-1..AC-10; coordinator- level OpenCV synthetic videos + faked pymavlink for AC-6..AC-13). Contract update: replay_protocol.md v2.0.0 added fdr_client to the ReplayInputAdapter __init__ signature (was missing in the prose; the task spec already listed it in the allowed-imports section). Co-authored-by: Cursor <cursoragent@cursor.com>