mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-21 17:31:14 +00:00

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Oleksandr Bezdieniezhnykh 33486588de [AZ-271] [AZ-276] [AZ-278] [AZ-282] Finish cross-cutting helpers + relax opencv pin

E-CC-HELPERS closes with the three remaining Layer-1 helpers and
E-CC-CONF closes with the env > YAML > defaults precedence test
gate. All four tickets ship with frozen public surfaces, hermetic
unit tests, and no upward (components.*) imports.

* AZ-271 — tests/unit/shared/config/test_precedence.py (5 ACs + smoke
  test + helper that names the layer in failure messages).
* AZ-282 — helpers/ransac_filter.py: static RansacFilter +
  RansacResult; cv2.setRNGSeed(0) for byte-equal determinism;
  median residual semantics pinned by contract.
* AZ-276 — helpers/imu_preintegrator.py + make_imu_preintegrator;
  GTSAM PreintegratedCombinedMeasurements; strict-monotonic ts_ns
  guard runs before any state mutation. Adjacent hygiene:
  _types/nav.py ImuSample/ImuWindow now use ts_ns:int and the
  spec-mandated ImuBias dataclass.
* AZ-278 — helpers/lightglue_runtime.py: structural R14 fix.
  LightGlueRuntime + non-blocking concurrent-access guard that
  raises rather than serialising. EngineHandle Protocol in
  _types/manifests.py + KeypointSet/CorrespondenceSet in
  _types/matching.py (Protocol surface adds approved by spec).

Dependency conflict (Finding 1, user-approved): gtsam 4.2 (PyPI) is
numpy-1.x-ABI only; opencv-python>=4.12 needs numpy>=2 at runtime.
Resolution: opencv-python pin relaxed to >=4.11.0.86,<4.12. The
D-CROSS-CVE-1 ratchet at ci/opencv_pin_gate.py is held at 4.11.0
with the original 4.12.0 floor restored once a numpy-2-compatible
gtsam wheel ships. Full replay procedure in
_docs/_process_leftovers/2026-05-11_d_cross_cve_1_opencv_pin_deferred.md.

Tests: 294 passed, 2 skipped (cmake/actionlint env-skips,
pre-existing). 43 new tests added for batch 5. Ruff check + format
clean.

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

2026-05-11 03:23:33 +03:00

3.3 KiB

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Config Precedence Unit Tests

Task: AZ-271_config_precedence_tests Name: Config Precedence Tests Description: A focused unit-test module that verifies the env > YAML > defaults precedence rule for at least 3 keys per layer (per epic AZ-246 AC-3) and the multi-file YAML merge order (later wins). Companion to AZ-269 / AZ-270. Complexity: 2 points Dependencies: AZ-269_config_loader, AZ-270_compose_root Component: shared.config (cross-cutting; epic AZ-246 / E-CC-CONF) Tracker: AZ-271 Epic: AZ-246 (E-CC-CONF)

Document Dependencies

_docs/02_document/contracts/shared_config/composition_root_protocol.md — the contract whose precedence invariant this test suite verifies.

Problem

The composition_root_protocol contract declares a hard precedence rule. Without explicit, tabular tests covering at least 3 keys per layer, regressions in the loader silently flip precedence and cause field bugs that only show up in production deployments where env overrides matter most.

Outcome

A pytest module with clearly-named cases covering precedence for ≥3 keys at each layer.
A multi-file YAML merge case proving later paths win over earlier paths.
Failure messages name the layer (env / YAML / defaults) so on-call engineers can triage fast.

Scope

Included

Precedence cases for ≥3 keys at each of: env > YAML, YAML > defaults, multi-file YAML merge order.
One reachability case driving compose_root end-to-end with a stub Config to prove the loader and composition functions integrate cleanly.
Test fixtures (in-memory YAML strings + env dict, no real files needed for precedence cases; one tmp_path for the multi-file case).

Excluded

Performance microbench — owned by AZ-269.
Strategy/build-flag mismatch tests — owned by AZ-270.
Per-component config block tests — owned by each component epic.

Acceptance Criteria

AC-1: env > YAML for at least 3 keys Given env sets LOG_LEVEL, FDR_QUEUE_SIZE, MAVLINK_BAUD and YAML sets all three to different values When load_config(env, [yaml]) runs Then all three resolved values match env

AC-2: YAML > defaults for at least 3 keys Given env is empty and YAML sets log.level, fdr.queue_size, mavlink.baud When load_config(env, [yaml]) runs Then all three resolved values match YAML (not the documented defaults)

AC-3: Defaults apply for at least 3 keys Given env is empty and YAML omits the three keys When load_config(env, [yaml]) runs Then all three resolved values match the documented defaults

AC-4: Multi-file YAML — later wins Given two YAML paths setting the same key to different values When load_config(env, [first, second]) runs Then the resolved value matches the second file

AC-5: Failure messages name the layer Given a precedence assertion fails When pytest reports the failure Then the assertion message names which layer's value was expected and which was found

Non-Functional Requirements

Reliability

Tests are hermetic: no real env vars consulted, no real YAML files outside tmp_path.

Constraints

Test file path is fixed at tests/unit/shared/config/test_precedence.py (mirrors the tests/unit/<component>/ convention from module-layout.md Layout Rule 7 — shared/config is the component slug).
Cases use the SAME 3 keys per layer to make the test matrix comparable across layers.

3.3 KiB Raw Blame History