mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 13:11:14 +00:00
Oleksandr Bezdieniezhnykh
6be207cef3
Replaces the tlog two-clock replay surface with a single-clock path driven by the Derkachi-schema CSV. --imu is the new required CLI arg; --tlog stays as a deprecated alias (warned + ignored when --imu set) until AZ-895 deletes it. * csv_ground_truth.py parses the 15-column schema, fails fast at startup on every documented schema fault (AC-5). * CsvReplayFcAdapter slots into ReplayInputBundle.fc_adapter alongside the tlog sibling; mirrors Invariant-5 outbound wiring; inbound bus is intentionally a no-op since the loop reads CSV directly. * _run_replay_loop branches on imu_csv_path, stamps VioOutput.emitted_at_ns from the CSV-derived frame_end_ns (AC-4), closing the AZ-848 two-clock surface for the new path. * AZ-896 ships the operator-facing format spec at _docs/02_document/contracts/replay/csv_replay_format.md plus a 20-row example CSV (AC-3 regression-locked). Tests: 11 + 12 new unit tests, plus updates to AZ-401 import-boundary and AZ-402 CLI suites. Full unit suite 2,327 passed / 86 skipped. Co-authored-by: Cursor <cursoragent@cursor.com>
15 lines
212 B
Markdown
15 lines
212 B
Markdown
# Autodev State
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## Current Step
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flow: existing-code
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step: 10
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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 3 of 4 — AZ-895"
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retry_count: 0
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cycle: 4
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tracker: jira
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