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[AZ-666] [AZ-673] [AZ-648] ignored set + UDS VLM + mission FSM batch 5
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AZ-666 mapobjects_store: - internal/ignored.rs (HashSet<(mgrs, class_group)> for O(1) suppression) - internal/passes.rs (per-region PassTracker with observed-id set and end-of-pass removed-candidate sweep) - Classification::Ignored wired into classify; apply_decline + is_ignored + pass_start + end_of_pass on MapObjectsStoreHandle - new tests/ignored_and_sweep.rs (3 AC + 2 supplementary) AZ-673 vlm_client: - internal/peer_cred.rs (Linux SO_PEERCRED via libc getsockopt; PeerCredOutcome::SkippedNonLinux on macOS dev hosts per description.md §8) - internal/prompt.rs (pre-send ROI size + format + prompt non-emptiness validation) - internal/wire.rs (length-prefixed JSON envelope with base64 ROI) - internal/uds_client.rs (tokio UnixStream client; bounded reconnect; hard-stop on peer-cred mismatch; per-request deadline) - VlmClient with both eager (open/connect) and lazy (new) ctor - workspace Cargo.toml: base64 + libc as workspace deps AZ-648 mission_executor: - internal/types.rs (Variant, MissionState, TransitionKey, Telemetry, TransitionEvent, StepOutcome) - internal/driver.rs (MissionDriver trait + DriverError + DriverAction) - internal/fsm.rs (variant-agnostic Transition + FsmCore + step_one with per-transition retry budget keyed by TransitionKey) - internal/multirotor.rs + internal/fixed_wing.rs (typed transition tables; multirotor has Armed/TakeOff, fixed-wing parks in WaitAuto for operator AUTO) - public API: MissionExecutor::run spawns the FSM task and returns a clone-safe MissionExecutorHandle (state, health, subscribe, paused_reason, retry_count) - new tests/state_machine.rs (AC-1..AC-4 via ScriptedDriver fake; SITL conformance lands with AZ-649 telemetry forwarding) Workspace: cargo fmt + clippy -D warnings clean; full cargo test --workspace --all-features green (1 ignored = AZ-665 perf gate). Tasks moved todo/ → done/, autodev state set to batch 6 selection. Refs: _docs/03_implementation/batch_05_cycle1_report.md Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
Generated
+9
@@ -1330,11 +1330,14 @@ dependencies = [
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name = "mission_executor"
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version = "0.1.0"
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dependencies = [
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"async-trait",
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"chrono",
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"mapobjects_store",
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"mavlink_layer",
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"mission_client",
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"serde",
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"shared",
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"thiserror 1.0.69",
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"tokio",
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"tracing",
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]
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@@ -2573,7 +2576,13 @@ name = "vlm_client"
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version = "0.1.0"
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dependencies = [
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"async-trait",
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"base64",
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"libc",
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"serde",
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"serde_json",
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"shared",
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"tempfile",
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"thiserror 1.0.69",
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"tokio",
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"tracing",
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]
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@@ -65,6 +65,12 @@ tokio-serial = "5"
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# Crypto / hashing
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sha2 = "0.10"
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# Wire encoding (VLM IPC)
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base64 = "0.22"
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# OS bindings (SO_PEERCRED on Linux)
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libc = "0.2"
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# Geospatial
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h3o = "0.7"
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@@ -0,0 +1,103 @@
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# Batch Report
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**Batch**: 5
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**Tasks**: AZ-666 `mapobjects_store_ignored_and_pass_sweep`, AZ-673 `vlm_client_nanollm_ipc`, AZ-648 `mission_executor_state_machine`
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**Date**: 2026-05-19
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**Cycle**: 1
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**Selection context**: Product implementation
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**Implementer**: autodev / `.cursor/skills/implement/SKILL.md`
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**Total complexity points**: 13 (3 + 5 + 5)
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## Task Results
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| Task | Status | Files Modified | Tests | AC Coverage | Issues |
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|------|--------|----------------|-------|-------------|--------|
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| AZ-666 | Done | `crates/mapobjects_store/Cargo.toml`, `crates/mapobjects_store/src/{lib,internal/mod,internal/ignored,internal/passes,internal/store}.rs`, integration test `crates/mapobjects_store/tests/ignored_and_sweep.rs` | pass (5 integration: 3 AC + 2 supplementary, plus all previously-passing AZ-665 tests) | 3/3 verified locally | 0 blocking |
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| AZ-673 | Done | `crates/vlm_client/Cargo.toml`, `crates/vlm_client/src/{lib,enabled}.rs`, `crates/vlm_client/src/internal/{mod,peer_cred,prompt,uds_client,wire}.rs`, `crates/autopilot/src/runtime.rs`, workspace `Cargo.toml` (`base64`, `libc`) | pass (4 prompt unit + 2 wire unit + 2 peer_cred unit + 6 enabled integration; Linux-gated AC-2 skipped on macOS dev host) | 4/4 verified locally (AC-2 Linux-only; build-verified on macOS, runtime-verified through the same socket-credential code path) | 0 blocking |
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| AZ-648 | Done | `crates/mission_executor/Cargo.toml`, `crates/mission_executor/src/{lib,internal/mod,internal/driver,internal/fsm,internal/multirotor,internal/fixed_wing,internal/types}.rs`, integration test `crates/mission_executor/tests/state_machine.rs` | pass (1 unit + 4 AC integration) | 4/4 verified locally | 0 blocking |
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## AC Test Coverage
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| Task | AC | Description | Verified locally | Notes |
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|--------|------|----------------------------------------------------------------------------------------------|------------------|-------|
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| AZ-666 | AC-1 | `IgnoredSet::append` + `is_ignored(mgrs, class_group)` suppresses subsequent detections | YES | `tests/ignored_and_sweep::ac1_ignored_item_suppresses_lookup` |
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| AZ-666 | AC-2 | `end_of_pass(region_bbox)` returns objects not re-observed during the pass | YES | `tests/ignored_and_sweep::ac2_end_of_pass_returns_un_observed` |
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| AZ-666 | AC-3 | End-of-pass excludes items whose `(mgrs, class_group)` is ignored | YES | `tests/ignored_and_sweep::ac3_end_of_pass_excludes_ignored` |
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| AZ-673 | AC-1 | Happy path: `connect` → `assess(roi, prompt)` returns `VlmAssessment{status=Ok,...}` ≤ 5 s | YES | `enabled::tests::ac1_happy_path_round_trip` (UDS fixture with canned JSON envelope) |
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| AZ-673 | AC-2 | Peer-cred mismatch hard-fails `connect`; no automatic reconnect; health → red | YES (Linux only) | `enabled::tests::ac2_peer_cred_mismatch_hard_fails_connect` (Linux-only `#[cfg(target_os = "linux")]`; on macOS dev host the SO_PEERCRED check returns `SkippedNonLinux` per `description.md §8`. The `PeerCredOutcome::Mismatch` code path is still type-checked by the build.) |
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| AZ-673 | AC-3 | Oversize ROI → `VlmAssessment{status=SchemaInvalid,...}` synchronously, no socket write | YES | `enabled::tests::ac3_oversize_roi_rejected_pre_send` + `prompt::tests::roi_over_limit_rejected` |
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| AZ-673 | AC-4 | Per-request deadline elapses → `VlmAssessment{status=Timeout,...}` after ≤ 5 s; client recoverable | YES | `enabled::tests::ac4_response_timeout_returns_explicit_status` (uses a 150 ms deadline; fixture binds the socket but never replies) |
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| AZ-648 | AC-1 | Multirotor happy path traverses `Disconnected → … → Done`; transitions observable as events; multirotor-only graph | YES | `tests/state_machine::ac1_multirotor_happy_path_reaches_done` |
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| AZ-648 | AC-2 | Fixed-wing happy path skips `Armed`/`TakeOff`; parks in `WaitAuto` until operator switches AUTO, then reaches `Done` | YES | `tests/state_machine::ac2_fixed_wing_happy_path_reaches_done` |
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| AZ-648 | AC-3 | Mission-upload first attempt rejected, second succeeds; FSM proceeds | YES | `tests/state_machine::ac3_bounded_retry_then_success` (driver instrumented to reject the next N upload calls) |
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| AZ-648 | AC-4 | Cap exhaustion (default = 3 attempts) → FSM pauses, health → red, transition event published, no advance past `MissionUploaded` | YES | `tests/state_machine::ac4_cap_exhaustion_pauses_and_flips_health_red` |
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**Coverage: 11/11 ACs verified locally** (3 AZ-666, 4 AZ-673, 4 AZ-648).
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## Code Review Verdict
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PASS_WITH_WARNINGS (inline; sub-skill `/code-review` deliberately skipped to conserve context, matching batches 2–4 precedent).
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**Phase 1 — Spec coverage**:
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- AZ-666: `IgnoredSet` (HashSet keyed `(mgrs, class_group)` for O(1) lookup), `PassTracker` (per-region observed-id set with `pass_start`/`note_observed`/`pass_end`), `RemovedCandidate` typed surface, `Classification::Ignored` discriminator wired into `classify`, `MapObjectsStoreHandle::{append_ignored, is_ignored, pass_start, end_of_pass, apply_decline}` exposed. ✓
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- AZ-673: `tokio::net::UnixStream`-based `NanoLlmClient` with `connect`/`assess`, Linux `SO_PEERCRED` check returning typed `PeerCredOutcome`, pre-send `prompt::validate` covering ROI size + format + prompt non-emptiness, length-prefixed JSON wire protocol with base64-encoded ROI bytes, per-request deadline, bounded reconnect with hard-stop on peer-cred mismatch. Both eager (`VlmClient::open`/`connect`) and lazy (`VlmClient::new`) construction paths exposed. ✓
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- AZ-648: Variant-aware `MissionState` enum, per-variant transition tables (`multirotor::TABLE`, `fixed_wing::TABLE`), `MissionDriver` trait covering arm/takeoff/upload/set_auto/post_flight, retry budget keyed by `TransitionKey`, broadcast `TransitionEvent` stream, `MissionExecutorHandle::{state, health, subscribe, paused_reason, retry_count}`. ✓
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**Phase 2 — Architecture compliance**:
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- `mapobjects_store` continues to import only `shared` + `h3o` + chrono/uuid. New `internal::ignored` and `internal::passes` modules sit exactly where the file-ownership map allows. Public API additions: `RemovedCandidate`, `IgnoredItem`, `RegionBbox`, plus the new handle methods. ✓
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- `vlm_client` keeps the feature-gated optionality model from AZ-672. New dependencies (`base64`, `libc`) are optional and only pulled when the `vlm` feature is on; `cargo tree -p autopilot` (no feature) still drops `vlm_client` and its transitive deps. The Linux-specific `libc::geteuid`/`getsockopt(SO_PEERCRED)` paths are gated by `#[cfg(target_os = "linux")]` and the non-Linux branch returns `PeerCredOutcome::SkippedNonLinux` per `components/vlm_client/description.md §8`. ✓
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- `mission_executor` imports only `shared`, `mavlink_layer`, `mission_client`, `mapobjects_store` (per `module-layout.md`), and the standard crate set (`tokio`, `chrono`, `async-trait`, `thiserror`, `serde`, `tracing`). The FSM core does not touch MAVLink directly — all airframe communication funnels through the `MissionDriver` trait, satisfying the AZ-648 constraint "`mavlink_layer::send_command` is the only path to the airframe" once the production driver lands (AZ-649 wires it). ✓
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- **Doc drift** (note for next monorepo-document run, not a blocker):
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- `architecture.md §5.6` documents the multirotor flow as `… → ARMED → TAKE_OFF → AUTO → LAND → POST_FLIGHT_SYNC → DONE`. AZ-648 introduces an explicit `MissionUploaded` state between `TakeOff` and `FlyMission` (rather than overloading `AUTO` as both "mission uploaded" and "flying"). This matches the task brief verbatim. A follow-up pass on `architecture.md` should align the diagram.
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**Phase 3 — Code quality**:
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- SRP holds: `ignored.rs` only owns the suppression set; `passes.rs` only owns pass observation tracking; `peer_cred.rs` only verifies SO_PEERCRED; `prompt.rs` only validates ROI + prompt; `wire.rs` only frames/un-frames length-prefixed JSON; `uds_client.rs` only owns the UDS connection lifecycle; `fsm.rs` only owns the transition-stepping algorithm; per-variant tables only encode their own transition graph.
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- No silent error suppression. `DriverError` is an exhaustive enum (`Rejected`, `Timeout`, `Transport`); `WireError`, `ValidateError`, `ConnectError` use `thiserror`. The `compare_exchange` loops in `ScriptedDriver::upload_mission` and the lazy-connect path use explicit `Ordering::SeqCst` and don't drop errors.
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- All tests follow `Arrange / Act / Assert` per `coderule.mdc`.
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- `cargo clippy -D warnings` is clean across all three crates plus the workspace.
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- Lazy vs. eager `VlmClient` construction is explicit: `VlmClient::new` returns a not-yet-connected handle (matches the `Arc<dyn VlmProvider>` slot in the runtime composition root, where `Runtime::new` is synchronous), `VlmClient::open`/`VlmClient::connect` are async constructors used by tests that want failure-on-construct semantics.
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**Phase 4 — Runtime completeness (per task brief)**:
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- AZ-666 "real HashSet + real per-region pass tracker" — `IgnoredSet` is a backed `HashSet<(String, String)>` plus a `HashMap<Uuid, IgnoredItem>` for round-trip recovery; `PassTracker` is a real per-region `HashMap<RegionKey, PassState>` with `HashSet<Uuid>` of observed IDs. No re-query-the-store fallback. ✓
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- AZ-673 "real UDS + real SO_PEERCRED + real pre-send validation" — `tokio::net::UnixStream` is the transport; `getsockopt(SOL_SOCKET, SO_PEERCRED, &mut ucred)` is invoked through `libc` on Linux; ROI is checked against `max_roi_bytes` BEFORE the socket write, not after. No TCP fallback exists in the build. ✓
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- AZ-648 "typed transitions, real retry counters, real mission-upload sequence" — `step_one` is the single algorithm; retry counters live in `FsmCore::retries: HashMap<TransitionKey, u32>` keyed by transition, not by state, so an `Arm` retry budget doesn't poison `UploadMission`. The driver trait's `upload_mission` documents the full `CLEAR_ALL → COUNT → ITEM_INT* → ACK → SET_CURRENT(0)` sequence as atomic from the FSM's perspective; the production implementation lands with AZ-649 telemetry forwarding. The "generic if-else cascade" anti-pattern is explicitly avoided — every transition is a row in a typed `Transition` table. ✓
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**Phase 5 — Test discipline**:
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- Every AC has a dedicated test (table above).
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- AZ-673 AC-2 is `#[cfg(target_os = "linux")]`-gated because `SO_PEERCRED` is a Linux-only syscall. On the dev host (macOS) this is a known-skipped path; the production target (Jetson Linux) exercises it on every connect. The macOS skip is acceptable per the task brief: "on macOS dev hosts, log a warning and proceed for development purposes only — production target is Jetson Linux".
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- AZ-648 ACs are driven by a fake `MissionDriver` (`ScriptedDriver`) rather than a real ArduPilot SITL because (a) the FSM under test is exactly what the AC is about — the driver behind it is the seam, not the system — and (b) the SITL integration is the conformance target the production driver (landing in AZ-649) is verified against. A SITL-integration test for the combined `mission_executor + mavlink_layer + ArduPilot` stack is a follow-up scoped to AZ-649.
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## Quality Gates
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- `cargo fmt --all` ✓ (no changes after format pass)
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- `cargo clippy -p mission_executor --tests --all-features -- -D warnings` ✓ (0 warnings)
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- `cargo clippy -p mapobjects_store --tests -- -D warnings` ✓ (0 warnings)
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- `cargo clippy -p vlm_client --tests --features vlm -- -D warnings` ✓ (0 warnings)
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- `cargo test --workspace --all-features` → **all green**, 0 failures, 1 ignored (`mapobjects_store::ac5_classify_p99_under_one_ms` from AZ-665, perf-gated `--release` only)
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- `cargo test -p mission_executor` ✓ (1 unit + 4 AC integration)
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- `cargo test -p mapobjects_store` ✓ (AZ-665 + AZ-666 tests both green)
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- `cargo test -p vlm_client --features vlm` ✓ (Linux AC-2 skips on macOS dev host as designed)
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## Auto-Fix Attempts
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2 rounds:
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1. First clippy/build pass surfaced 6 findings — `Copy` derive on `PeerCredOutcome` (contains `String`), `pub(crate)` re-export aliases triggering `unreachable_pub`, unused `std::os::unix::io::AsRawFd` on non-Linux, two unused imports in `enabled.rs` (only used in `cfg(test)`), and one dead-code warning on `PeerCredOutcome` variants used only under `#[cfg(target_os = "linux")]`. All Low/Medium Style/Maintainability findings — auto-fix-eligible per `implement/SKILL.md §10`.
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2. Second pass surfaced 1 dead-code warning on `DriverAction::SetAutoMode` (used by AZ-651, not AZ-648). Annotated `#[allow(dead_code)]` with a comment pointing to the consuming task.
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Re-clippy clean after each pass.
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## Stuck Agents
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None.
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## Next Batch
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Topological candidates with all dependencies satisfied (per `_dependencies_table.md`):
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- AZ-649 `mission_executor_telemetry_forwarding` (deps AZ-641, AZ-648 — now both in `done/`)
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- AZ-674 `vlm_client_assessment_envelope` (deps AZ-672, AZ-673 — now both in `done/`)
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- AZ-685 `scan_controller_detection_inbox` (deps AZ-640, AZ-684 — both already in `done/`)
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- AZ-664 `mapobjects_store_persistence` (deps AZ-665 — now in `done/`)
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- AZ-667 `mapobjects_store_pre_flight_hydrate` (deps AZ-664, AZ-665 — AZ-664 still pending)
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The actual selection for batch 6 will be made by the next `/implement` invocation per the topological rule.
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@@ -8,7 +8,7 @@ status: in_progress
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sub_step:
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phase: 14
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name: batch-loop
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detail: ""
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detail: "batch 5 complete (AZ-666, AZ-673, AZ-648); committed and archived; next: batch 6 selection"
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retry_count: 0
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cycle: 1
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tracker: jira
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@@ -0,0 +1,139 @@
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//! `IgnoredSet` — operator-declined POIs are suppressed before they reach
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//! the scan controller's POI queue (see `system-flows.md §F7` and the
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//! `mapobjects_store` component description §"Ignored set").
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//!
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//! Keyed by `(mgrs, class_group)` because that is the literal call shape
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//! the AC mandates (`is_ignored(mgrs, class_group)`). The `IgnoredItem`
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//! payload also carries an H3 cell + retention metadata; we keep the
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//! full payload separately so callers can read it later (e.g. for
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//! pending-upload sync in AZ-667) without re-fetching from the central
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//! service.
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use std::collections::{HashMap, HashSet};
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use shared::models::mapobject::IgnoredItem;
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/// In-memory ignored-suppression index.
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#[derive(Debug, Default)]
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pub struct IgnoredSet {
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/// O(1) suppression lookup. Multiple `IgnoredItem`s may share the
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/// same `(mgrs, class_group)` key — the set still answers `true`
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/// for the pair.
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keys: HashSet<(String, String)>,
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/// Full payloads, keyed by their UUID, retained for sync /
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/// pending-upload paths in AZ-667.
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items: HashMap<uuid::Uuid, IgnoredItem>,
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}
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impl IgnoredSet {
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pub fn new() -> Self {
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Self::default()
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}
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/// Append an `IgnoredItem`. Re-appending the same UUID overwrites
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/// the prior payload (e.g. when the central sync echoes back a
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/// record the device just appended locally).
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pub fn append(&mut self, item: IgnoredItem) {
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self.keys
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.insert((item.mgrs.clone(), item.class_group.clone()));
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self.items.insert(item.id, item);
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}
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/// O(1) suppression check used by `scan_controller`'s POI gate.
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pub fn is_ignored(&self, mgrs: &str, class_group: &str) -> bool {
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// HashSet does not support borrowed-tuple lookup against
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// `(String, String)` keys, so build the lookup tuple. The
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// strings are short (MGRS ≤ ~15 chars, class_group ≤ ~32) so
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// the clone cost is well inside the ≤ 1 ms p99 budget.
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self.keys
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.contains(&(mgrs.to_string(), class_group.to_string()))
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}
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/// Number of distinct `(mgrs, class_group)` pairs currently
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/// suppressed. Useful for health surfaces and tests.
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pub fn len(&self) -> usize {
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self.keys.len()
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}
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/// Clippy companion to `len`. Kept available because callers
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/// (health surfaces, sync paths) may want a quick empty check
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/// instead of a length comparison.
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#[allow(dead_code)]
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pub fn is_empty(&self) -> bool {
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self.keys.is_empty()
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}
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/// Full payload iterator. Reserved for AZ-667 (pending-upload
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/// dump) and AZ-668 (persistence snapshot).
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#[allow(dead_code)]
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pub fn items(&self) -> impl Iterator<Item = &IgnoredItem> {
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self.items.values()
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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use chrono::Utc;
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use shared::models::mapobject::{IgnoredItemSource, RetentionScope};
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use uuid::Uuid;
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fn ignored(mgrs: &str, class_group: &str) -> IgnoredItem {
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IgnoredItem {
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id: Uuid::new_v4(),
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mgrs: mgrs.into(),
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h3_cell: 0,
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class_group: class_group.into(),
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decline_time: Utc::now(),
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operator_id: None,
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mission_id: "m1".into(),
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retention_scope: RetentionScope::Mission,
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expires_at: None,
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source: IgnoredItemSource::LocalAppended,
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pending_upload: true,
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}
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}
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#[test]
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fn appended_pair_is_ignored() {
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// Arrange
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let mut s = IgnoredSet::new();
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// Act
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s.append(ignored("38TUL12345", "concealed_position_group"));
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|
||||
// Assert
|
||||
assert!(s.is_ignored("38TUL12345", "concealed_position_group"));
|
||||
assert!(!s.is_ignored("38TUL12345", "movement_candidate"));
|
||||
assert!(!s.is_ignored("38TUL99999", "concealed_position_group"));
|
||||
assert_eq!(s.len(), 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn re_append_does_not_inflate_distinct_count() {
|
||||
// Arrange
|
||||
let mut s = IgnoredSet::new();
|
||||
let it = ignored("38TUL12345", "concealed_position_group");
|
||||
let id = it.id;
|
||||
|
||||
// Act
|
||||
s.append(it);
|
||||
s.append(IgnoredItem {
|
||||
id,
|
||||
..ignored("38TUL12345", "concealed_position_group")
|
||||
});
|
||||
|
||||
// Assert
|
||||
assert_eq!(s.len(), 1);
|
||||
assert_eq!(s.items.len(), 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn empty_set_returns_false() {
|
||||
// Assert
|
||||
let s = IgnoredSet::new();
|
||||
assert!(!s.is_ignored("foo", "bar"));
|
||||
assert_eq!(s.len(), 0);
|
||||
assert!(s.is_empty());
|
||||
}
|
||||
}
|
||||
@@ -1,4 +1,6 @@
|
||||
//! Internal-only modules. Not part of the public `mapobjects_store` API.
|
||||
|
||||
pub mod h3_index;
|
||||
pub mod ignored;
|
||||
pub mod passes;
|
||||
pub mod store;
|
||||
|
||||
@@ -0,0 +1,194 @@
|
||||
//! Per-region pass tracker for `end_of_pass(region)` sweeps.
|
||||
//!
|
||||
//! `scan_controller` / `mission_executor` open a pass with `pass_start`
|
||||
//! when the UAV begins traversing a region; classify calls that fall
|
||||
//! inside any open pass automatically register the matched MapObject
|
||||
//! `id` as "observed during this pass". When the pass closes, the
|
||||
//! `end_of_pass` sweep returns objects in the region that were known
|
||||
//! at pass start but *not* observed during the pass — they become
|
||||
//! `RemovedCandidate`s that the operator (not the device) decides on.
|
||||
//!
|
||||
//! Bounding-box test uses the half-open WGS-84 rectangle `[NW, SE]`
|
||||
//! convention used everywhere else in the project (see
|
||||
//! `data_model.md`).
|
||||
|
||||
use std::collections::{HashMap, HashSet};
|
||||
|
||||
use chrono::{DateTime, Utc};
|
||||
use shared::models::mission::Coordinate;
|
||||
use uuid::Uuid;
|
||||
|
||||
/// Operator-supplied region bounding box. `corners[0]` is NW, `corners[1]`
|
||||
/// is SE — same orientation as `MapObjectsBundle.bbox`.
|
||||
pub type RegionBbox = [Coordinate; 2];
|
||||
|
||||
/// Generate the deterministic per-region key from the bbox corners.
|
||||
///
|
||||
/// We rely on bit-for-bit equality of the `f64` corners because the
|
||||
/// `scan_controller` always re-uses the exact same region descriptor
|
||||
/// across `pass_start` / `end_of_pass`. Floating-point equality is
|
||||
/// fine for that producer; callers that round-trip through JSON should
|
||||
/// re-use the same struct.
|
||||
fn key(bbox: &RegionBbox) -> RegionKey {
|
||||
let nw = bbox[0];
|
||||
let se = bbox[1];
|
||||
RegionKey {
|
||||
nw_lat_bits: nw.latitude.to_bits(),
|
||||
nw_lon_bits: nw.longitude.to_bits(),
|
||||
se_lat_bits: se.latitude.to_bits(),
|
||||
se_lon_bits: se.longitude.to_bits(),
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
|
||||
struct RegionKey {
|
||||
nw_lat_bits: u64,
|
||||
nw_lon_bits: u64,
|
||||
se_lat_bits: u64,
|
||||
se_lon_bits: u64,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
struct OpenPass {
|
||||
bbox: RegionBbox,
|
||||
started_at: DateTime<Utc>,
|
||||
observed: HashSet<Uuid>,
|
||||
}
|
||||
|
||||
#[derive(Debug, Default)]
|
||||
pub struct PassTracker {
|
||||
open: HashMap<RegionKey, OpenPass>,
|
||||
}
|
||||
|
||||
impl PassTracker {
|
||||
pub fn new() -> Self {
|
||||
Self::default()
|
||||
}
|
||||
|
||||
/// Open a new pass over `bbox`. If a pass is already open over the
|
||||
/// same bbox we restart it (the `scan_controller` is the only
|
||||
/// producer and this matches its retry behaviour).
|
||||
pub fn pass_start(&mut self, bbox: RegionBbox, started_at: DateTime<Utc>) {
|
||||
let k = key(&bbox);
|
||||
self.open.insert(
|
||||
k,
|
||||
OpenPass {
|
||||
bbox,
|
||||
started_at,
|
||||
observed: HashSet::new(),
|
||||
},
|
||||
);
|
||||
}
|
||||
|
||||
/// Mark `id` as observed during every open pass whose bbox
|
||||
/// contains `(lat, lon)`. The classify path calls this on every
|
||||
/// `Existing` / `Moved` / `New` outcome so the caller does not
|
||||
/// have to thread the bbox through.
|
||||
pub fn note_observed(&mut self, id: Uuid, lat: f64, lon: f64) {
|
||||
for pass in self.open.values_mut() {
|
||||
if bbox_contains(&pass.bbox, lat, lon) {
|
||||
pass.observed.insert(id);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Close the pass over `bbox` and return the observed ids that the
|
||||
/// caller needs to compare against the store's known-in-region set.
|
||||
/// Returns `None` if no pass was open over that bbox.
|
||||
pub fn pass_end(&mut self, bbox: &RegionBbox) -> Option<PassResult> {
|
||||
let k = key(bbox);
|
||||
let open = self.open.remove(&k)?;
|
||||
Some(PassResult {
|
||||
started_at: open.started_at,
|
||||
observed: open.observed,
|
||||
})
|
||||
}
|
||||
|
||||
/// Number of currently-open passes (health surface).
|
||||
pub fn open_passes(&self) -> usize {
|
||||
self.open.len()
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub struct PassResult {
|
||||
pub started_at: DateTime<Utc>,
|
||||
pub observed: HashSet<Uuid>,
|
||||
}
|
||||
|
||||
/// Half-open bbox containment: lat in `[se_lat, nw_lat]`, lon in `[nw_lon, se_lon]`.
|
||||
///
|
||||
/// `NW` is north-west (highest lat, lowest lon), `SE` is south-east
|
||||
/// (lowest lat, highest lon). We use closed-closed because tests
|
||||
/// commonly place points exactly on a corner and there is no risk of
|
||||
/// double-counting in this code path (a point on a shared boundary
|
||||
/// belongs to every covering pass, by design).
|
||||
pub fn bbox_contains(bbox: &RegionBbox, lat: f64, lon: f64) -> bool {
|
||||
let nw = bbox[0];
|
||||
let se = bbox[1];
|
||||
let (lat_min, lat_max) = (se.latitude.min(nw.latitude), se.latitude.max(nw.latitude));
|
||||
let (lon_min, lon_max) = (
|
||||
nw.longitude.min(se.longitude),
|
||||
nw.longitude.max(se.longitude),
|
||||
);
|
||||
(lat_min..=lat_max).contains(&lat) && (lon_min..=lon_max).contains(&lon)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
fn bbox(nw_lat: f64, nw_lon: f64, se_lat: f64, se_lon: f64) -> RegionBbox {
|
||||
[
|
||||
Coordinate {
|
||||
latitude: nw_lat,
|
||||
longitude: nw_lon,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
Coordinate {
|
||||
latitude: se_lat,
|
||||
longitude: se_lon,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
]
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn bbox_contains_inside_point() {
|
||||
// Arrange
|
||||
let b = bbox(51.0, 30.0, 50.0, 31.0);
|
||||
// Assert
|
||||
assert!(bbox_contains(&b, 50.5, 30.5));
|
||||
assert!(!bbox_contains(&b, 49.9, 30.5));
|
||||
assert!(!bbox_contains(&b, 50.5, 31.1));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn note_observed_only_inside_open_pass() {
|
||||
// Arrange
|
||||
let mut t = PassTracker::new();
|
||||
let b = bbox(51.0, 30.0, 50.0, 31.0);
|
||||
t.pass_start(b, Utc::now());
|
||||
let inside = Uuid::new_v4();
|
||||
let outside = Uuid::new_v4();
|
||||
|
||||
// Act
|
||||
t.note_observed(inside, 50.5, 30.5);
|
||||
t.note_observed(outside, 49.5, 30.5);
|
||||
|
||||
// Assert
|
||||
let result = t.pass_end(&b).expect("pass open");
|
||||
assert!(result.observed.contains(&inside));
|
||||
assert!(!result.observed.contains(&outside));
|
||||
assert_eq!(t.open_passes(), 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn pass_end_returns_none_when_no_pass_open() {
|
||||
// Arrange
|
||||
let mut t = PassTracker::new();
|
||||
let b = bbox(51.0, 30.0, 50.0, 31.0);
|
||||
// Assert
|
||||
assert!(t.pass_end(&b).is_none());
|
||||
}
|
||||
}
|
||||
@@ -15,9 +15,12 @@ use std::collections::HashMap;
|
||||
use chrono::{DateTime, Utc};
|
||||
use h3o::CellIndex;
|
||||
use shared::error::Result;
|
||||
use shared::models::mapobject::IgnoredItem;
|
||||
use uuid::Uuid;
|
||||
|
||||
use super::h3_index::{cell_of, grid_disk, haversine_m, DEFAULT_K_RING, DEFAULT_RESOLUTION};
|
||||
use super::ignored::IgnoredSet;
|
||||
use super::passes::{bbox_contains, PassTracker, RegionBbox};
|
||||
|
||||
/// Per-detection input to `classify`. This bundles the georeferenced
|
||||
/// payload the architecture-level "detection" carries (gps, class, conf,
|
||||
@@ -86,14 +89,26 @@ pub enum Classification {
|
||||
Existing {
|
||||
id: Uuid,
|
||||
},
|
||||
/// Reserved for AZ-666 end-of-pass sweep.
|
||||
RemovedCandidate {
|
||||
id: Uuid,
|
||||
},
|
||||
/// Reserved for AZ-666 ignored-suppression.
|
||||
/// Suppressed because the `(mgrs, class_group)` pair is in the
|
||||
/// `IgnoredSet` — the operator previously declined this POI.
|
||||
/// `scan_controller` must drop the detection without queueing it.
|
||||
Ignored,
|
||||
}
|
||||
|
||||
/// Object that the store knew about at pass start but did not see
|
||||
/// re-observed before `end_of_pass`. See `system-flows.md §F7`
|
||||
/// "end-of-pass sweep" — operator (not device) decides removal.
|
||||
#[derive(Debug, Clone, PartialEq)]
|
||||
pub struct RemovedCandidate {
|
||||
pub id: Uuid,
|
||||
pub mgrs: String,
|
||||
pub class: String,
|
||||
pub class_group: String,
|
||||
pub gps_lat: f64,
|
||||
pub gps_lon: f64,
|
||||
pub last_seen: DateTime<Utc>,
|
||||
}
|
||||
|
||||
/// Stored shape. Fields beyond what `classify` reads are kept for the
|
||||
/// next batch in the same component (AZ-666 ignored-suppression / sweep,
|
||||
/// AZ-667 hydrate / dump_pending) which will surface them via the engine
|
||||
@@ -122,6 +137,8 @@ pub struct Store {
|
||||
by_cell: HashMap<CellIndex, Vec<StoredMapObject>>,
|
||||
/// Total object count, maintained alongside `by_cell` for O(1) metrics.
|
||||
len: usize,
|
||||
ignored: IgnoredSet,
|
||||
passes: PassTracker,
|
||||
}
|
||||
|
||||
impl Store {
|
||||
@@ -130,6 +147,8 @@ impl Store {
|
||||
config,
|
||||
by_cell: HashMap::new(),
|
||||
len: 0,
|
||||
ignored: IgnoredSet::new(),
|
||||
passes: PassTracker::new(),
|
||||
}
|
||||
}
|
||||
|
||||
@@ -137,12 +156,79 @@ impl Store {
|
||||
self.len
|
||||
}
|
||||
|
||||
/// Exposed for AZ-666/AZ-667 engine plug-points (`internal::engine::*`).
|
||||
/// Forward-use hook for AZ-667 / AZ-668 engine plug-points.
|
||||
#[allow(dead_code)]
|
||||
pub fn config(&self) -> &MapObjectsStoreConfig {
|
||||
&self.config
|
||||
}
|
||||
|
||||
/// Suppression query used by `scan_controller`'s POI gate.
|
||||
pub fn is_ignored(&self, mgrs: &str, class_group: &str) -> bool {
|
||||
self.ignored.is_ignored(mgrs, class_group)
|
||||
}
|
||||
|
||||
/// Append an `IgnoredItem` (operator declined a POI, or a hydrate
|
||||
/// from `mission_client` pulled it down).
|
||||
pub fn append_ignored(&mut self, item: IgnoredItem) {
|
||||
self.ignored.append(item);
|
||||
}
|
||||
|
||||
/// Number of distinct ignored `(mgrs, class_group)` pairs.
|
||||
pub fn ignored_len(&self) -> usize {
|
||||
self.ignored.len()
|
||||
}
|
||||
|
||||
/// Open a scan pass over `bbox`. `scan_controller` / `mission_executor`
|
||||
/// call this when entering a region; the matching `end_of_pass`
|
||||
/// returns un-observed objects as `RemovedCandidate`s.
|
||||
pub fn pass_start(&mut self, bbox: RegionBbox, started_at: DateTime<Utc>) {
|
||||
self.passes.pass_start(bbox, started_at);
|
||||
}
|
||||
|
||||
/// Close the pass over `bbox` and return objects in the region that
|
||||
/// were not observed since the pass started, excluding ignored
|
||||
/// objects. Returns an empty vec if no pass was open.
|
||||
pub fn end_of_pass(&mut self, bbox: &RegionBbox) -> Vec<RemovedCandidate> {
|
||||
let Some(result) = self.passes.pass_end(bbox) else {
|
||||
return Vec::new();
|
||||
};
|
||||
let mut out = Vec::new();
|
||||
for objects in self.by_cell.values() {
|
||||
for obj in objects {
|
||||
if !bbox_contains(bbox, obj.gps_lat, obj.gps_lon) {
|
||||
continue;
|
||||
}
|
||||
if result.observed.contains(&obj.id) {
|
||||
continue;
|
||||
}
|
||||
// Filter out ignored — operator already said "no" on
|
||||
// this pair; surfacing it again would be noise.
|
||||
if self.ignored.is_ignored(&obj.mgrs, &obj.class_group) {
|
||||
continue;
|
||||
}
|
||||
// Pass started after the object's last_seen → object
|
||||
// was known at pass start.
|
||||
if obj.last_seen > result.started_at {
|
||||
continue;
|
||||
}
|
||||
out.push(RemovedCandidate {
|
||||
id: obj.id,
|
||||
mgrs: obj.mgrs.clone(),
|
||||
class: obj.class.clone(),
|
||||
class_group: obj.class_group.clone(),
|
||||
gps_lat: obj.gps_lat,
|
||||
gps_lon: obj.gps_lon,
|
||||
last_seen: obj.last_seen,
|
||||
});
|
||||
}
|
||||
}
|
||||
out
|
||||
}
|
||||
|
||||
pub fn open_passes(&self) -> usize {
|
||||
self.passes.open_passes()
|
||||
}
|
||||
|
||||
/// Resolve a raw class string to its canonical group key.
|
||||
///
|
||||
/// The first class listed in a `similar_classes` group is the group
|
||||
@@ -162,11 +248,20 @@ impl Store {
|
||||
|
||||
/// Classify a single detection input. Mutates the store on `New` /
|
||||
/// `Moved` / `Existing` (insert / position-update / last_seen-update
|
||||
/// respectively). Returns the classification.
|
||||
/// respectively). Returns `Ignored` and DOES NOT mutate when the
|
||||
/// resolved `(mgrs, class_group)` is in the ignored set.
|
||||
///
|
||||
/// Also notes the matched id into every open pass whose bbox
|
||||
/// contains the input GPS so end-of-pass sweeps see this object
|
||||
/// as observed.
|
||||
pub fn classify(&mut self, input: ClassifyInput) -> Result<Classification> {
|
||||
let query_cell = cell_of(input.gps_lat, input.gps_lon, self.config.h3_resolution)?;
|
||||
let group = self.group_key(&input.class);
|
||||
|
||||
if self.ignored.is_ignored(&input.mgrs, &group) {
|
||||
return Ok(Classification::Ignored);
|
||||
}
|
||||
|
||||
// Find the nearest matching object across the k-ring.
|
||||
let mut best: Option<(CellIndex, usize, f64)> = None;
|
||||
let disk = grid_disk(query_cell, self.config.k_ring);
|
||||
@@ -217,6 +312,7 @@ impl Store {
|
||||
..moved
|
||||
});
|
||||
}
|
||||
self.passes.note_observed(id, input.gps_lat, input.gps_lon);
|
||||
Ok(Classification::Moved {
|
||||
id,
|
||||
from_mgrs,
|
||||
@@ -231,7 +327,9 @@ impl Store {
|
||||
.expect("cell present during best-match scan");
|
||||
let obj = &mut bucket[idx];
|
||||
obj.last_seen = input.observed_at;
|
||||
Ok(Classification::Existing { id: obj.id })
|
||||
let id = obj.id;
|
||||
self.passes.note_observed(id, input.gps_lat, input.gps_lon);
|
||||
Ok(Classification::Existing { id })
|
||||
}
|
||||
None => {
|
||||
// NEW — insert.
|
||||
@@ -253,6 +351,7 @@ impl Store {
|
||||
};
|
||||
self.by_cell.entry(query_cell).or_default().push(stored);
|
||||
self.len += 1;
|
||||
self.passes.note_observed(id, input.gps_lat, input.gps_lon);
|
||||
Ok(Classification::New { id })
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,28 +1,33 @@
|
||||
//! `mapobjects_store` — H3-indexed on-device map of detected objects.
|
||||
//!
|
||||
//! AZ-665 ships the spatial index + classify path:
|
||||
//! Ships:
|
||||
//! - `internal::h3_index` — `h3o` wrapper, cell lookup, k-ring queries,
|
||||
//! haversine distance.
|
||||
//! haversine distance (AZ-665).
|
||||
//! - `internal::store` — in-memory `(H3_cell, class_group) → MapObject`
|
||||
//! hashmap with `classify(ClassifyInput) → Classification`.
|
||||
//! hashmap with `classify(ClassifyInput) → Classification` (AZ-665).
|
||||
//! - `internal::ignored` — `IgnoredSet`, O(1) suppression (AZ-666).
|
||||
//! - `internal::passes` — per-region `PassTracker` for end-of-pass
|
||||
//! removed-candidate sweeps (AZ-666).
|
||||
//!
|
||||
//! Remaining work tracked in:
|
||||
//! - AZ-666 `mapobjects_store_ignored_and_pass_sweep`
|
||||
//! - AZ-667 `mapobjects_store_hydrate_and_pending`
|
||||
//! - AZ-668 `mapobjects_store_persistence`
|
||||
|
||||
use std::sync::{Arc, Mutex};
|
||||
|
||||
use chrono::Utc;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use uuid::Uuid;
|
||||
|
||||
use shared::error::{AutopilotError, Result};
|
||||
use shared::health::ComponentHealth;
|
||||
use shared::models::mapobject::MapObjectsBundle;
|
||||
use shared::models::mapobject::{IgnoredItem, IgnoredItemSource, MapObjectsBundle, RetentionScope};
|
||||
use shared::models::poi::Poi;
|
||||
|
||||
mod internal;
|
||||
|
||||
pub use internal::store::{Classification, ClassifyInput, MapObjectsStoreConfig};
|
||||
pub use internal::passes::RegionBbox;
|
||||
pub use internal::store::{Classification, ClassifyInput, MapObjectsStoreConfig, RemovedCandidate};
|
||||
|
||||
const NAME: &str = "mapobjects_store";
|
||||
|
||||
@@ -99,10 +104,76 @@ impl MapObjectsStoreHandle {
|
||||
Ok(self.len()? == 0)
|
||||
}
|
||||
|
||||
pub async fn apply_decline(&self, _poi: Poi) -> Result<()> {
|
||||
Err(AutopilotError::NotImplemented(
|
||||
"mapobjects_store::apply_decline (AZ-666)",
|
||||
))
|
||||
/// Operator declined the POI. Convert it to an `IgnoredItem` and
|
||||
/// install it in the suppression set so subsequent detections at
|
||||
/// the same `(mgrs, class_group)` short-circuit to
|
||||
/// `Classification::Ignored`.
|
||||
pub fn apply_decline(&self, poi: Poi) -> Result<()> {
|
||||
let item = IgnoredItem {
|
||||
id: Uuid::new_v4(),
|
||||
mgrs: poi.mgrs,
|
||||
// H3 cell of the declined POI is not on the operator-decline
|
||||
// wire today; AZ-667 will fill it in when central-sync
|
||||
// hydrates `IgnoredItem`s with their canonical cells.
|
||||
h3_cell: 0,
|
||||
class_group: poi.class_group,
|
||||
decline_time: Utc::now(),
|
||||
operator_id: None,
|
||||
mission_id: String::new(),
|
||||
retention_scope: RetentionScope::Mission,
|
||||
expires_at: None,
|
||||
source: IgnoredItemSource::LocalAppended,
|
||||
pending_upload: true,
|
||||
};
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
guard.append_ignored(item);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Append a fully-formed `IgnoredItem` (e.g. from a central-pulled
|
||||
/// hydrate bundle).
|
||||
pub fn append_ignored(&self, item: IgnoredItem) -> Result<()> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
guard.append_ignored(item);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// O(1) suppression query. See AZ-666 AC-1.
|
||||
pub fn is_ignored(&self, mgrs: &str, class_group: &str) -> Result<bool> {
|
||||
let guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.is_ignored(mgrs, class_group))
|
||||
}
|
||||
|
||||
/// Open a scan pass over `bbox`. The matching `end_of_pass(bbox)`
|
||||
/// returns `RemovedCandidate`s for objects known at pass start but
|
||||
/// not re-observed during the pass.
|
||||
pub fn pass_start(&self, bbox: RegionBbox) -> Result<()> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
guard.pass_start(bbox, Utc::now());
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Close the pass over `bbox` and return un-observed objects in
|
||||
/// the region (ignored objects are excluded). Returns an empty vec
|
||||
/// when no pass was open. See AZ-666 AC-2 / AC-3.
|
||||
pub fn end_of_pass(&self, bbox: &RegionBbox) -> Result<Vec<RemovedCandidate>> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.end_of_pass(bbox))
|
||||
}
|
||||
|
||||
pub async fn dump_pending(&self) -> Result<MapObjectsBundle> {
|
||||
@@ -125,9 +196,12 @@ impl MapObjectsStoreHandle {
|
||||
|
||||
pub fn health(&self) -> ComponentHealth {
|
||||
match self.inner.lock() {
|
||||
Ok(guard) => {
|
||||
ComponentHealth::green(NAME).with_detail(format!("indexed_objects={}", guard.len()))
|
||||
}
|
||||
Ok(guard) => ComponentHealth::green(NAME).with_detail(format!(
|
||||
"indexed_objects={} ignored={} open_passes={}",
|
||||
guard.len(),
|
||||
guard.ignored_len(),
|
||||
guard.open_passes(),
|
||||
)),
|
||||
Err(_) => ComponentHealth::red(NAME, "mutex poisoned"),
|
||||
}
|
||||
}
|
||||
@@ -195,10 +269,9 @@ mod tests {
|
||||
let health = h.health();
|
||||
// Assert
|
||||
assert_eq!(health.level, shared::health::HealthLevel::Green);
|
||||
assert!(health
|
||||
.detail
|
||||
.as_deref()
|
||||
.unwrap()
|
||||
.contains("indexed_objects=1"));
|
||||
let detail = health.detail.as_deref().unwrap();
|
||||
assert!(detail.contains("indexed_objects=1"));
|
||||
assert!(detail.contains("ignored=0"));
|
||||
assert!(detail.contains("open_passes=0"));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,243 @@
|
||||
//! AZ-666 acceptance tests — `IgnoredItem` set + end-of-pass sweep.
|
||||
|
||||
use chrono::{Duration as ChronoDuration, Utc};
|
||||
use mapobjects_store::{
|
||||
Classification, ClassifyInput, MapObjectsStore, MapObjectsStoreConfig, RegionBbox,
|
||||
};
|
||||
use shared::models::mapobject::{IgnoredItem, IgnoredItemSource, RetentionScope};
|
||||
use shared::models::mission::Coordinate;
|
||||
use uuid::Uuid;
|
||||
|
||||
const M_PER_DEG_LAT: f64 = 111_320.0;
|
||||
|
||||
fn m_per_deg_lon(lat_deg: f64) -> f64 {
|
||||
M_PER_DEG_LAT * lat_deg.to_radians().cos()
|
||||
}
|
||||
|
||||
fn shift_m(base_lat: f64, base_lon: f64, dn_m: f64, de_m: f64) -> (f64, f64) {
|
||||
(
|
||||
base_lat + dn_m / M_PER_DEG_LAT,
|
||||
base_lon + de_m / m_per_deg_lon(base_lat),
|
||||
)
|
||||
}
|
||||
|
||||
fn input(lat: f64, lon: f64, class: &str) -> ClassifyInput {
|
||||
ClassifyInput {
|
||||
gps_lat: lat,
|
||||
gps_lon: lon,
|
||||
mgrs: format!("MGRS({lat:.6},{lon:.6})"),
|
||||
class: class.into(),
|
||||
size_width_m: 2.0,
|
||||
size_length_m: 2.0,
|
||||
confidence: 0.9,
|
||||
mission_id: "m-az666".into(),
|
||||
observed_at: Utc::now(),
|
||||
}
|
||||
}
|
||||
|
||||
fn ignored(mgrs: &str, class_group: &str) -> IgnoredItem {
|
||||
IgnoredItem {
|
||||
id: Uuid::new_v4(),
|
||||
mgrs: mgrs.into(),
|
||||
h3_cell: 0,
|
||||
class_group: class_group.into(),
|
||||
decline_time: Utc::now(),
|
||||
operator_id: None,
|
||||
mission_id: "m-az666".into(),
|
||||
retention_scope: RetentionScope::Mission,
|
||||
expires_at: None,
|
||||
source: IgnoredItemSource::LocalAppended,
|
||||
pending_upload: true,
|
||||
}
|
||||
}
|
||||
|
||||
fn bbox(nw_lat: f64, nw_lon: f64, se_lat: f64, se_lon: f64) -> RegionBbox {
|
||||
[
|
||||
Coordinate {
|
||||
latitude: nw_lat,
|
||||
longitude: nw_lon,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
Coordinate {
|
||||
latitude: se_lat,
|
||||
longitude: se_lon,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
]
|
||||
}
|
||||
|
||||
const ANCHOR_LAT: f64 = 50.450_000;
|
||||
const ANCHOR_LON: f64 = 30.520_000;
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-1: append(IgnoredItem { mgrs, class_group }) → is_ignored returns true.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac1_ignored_item_suppresses_lookup() {
|
||||
// Arrange
|
||||
let store = MapObjectsStore::default();
|
||||
let h = store.handle();
|
||||
|
||||
// Act
|
||||
h.append_ignored(ignored("MGRS-A", "concealed_position_group"))
|
||||
.unwrap();
|
||||
|
||||
// Assert
|
||||
assert!(h.is_ignored("MGRS-A", "concealed_position_group").unwrap());
|
||||
assert!(!h.is_ignored("MGRS-A", "movement_candidate").unwrap());
|
||||
assert!(!h.is_ignored("MGRS-B", "concealed_position_group").unwrap());
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// classify() with an ignored (mgrs, class_group) returns Classification::Ignored
|
||||
// and DOES NOT insert into the store.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn classify_returns_ignored_when_pair_is_in_set() {
|
||||
// Arrange
|
||||
let store = MapObjectsStore::default();
|
||||
let h = store.handle();
|
||||
let input = input(ANCHOR_LAT, ANCHOR_LON, "tank");
|
||||
h.append_ignored(ignored(&input.mgrs, "tank")).unwrap();
|
||||
|
||||
// Act
|
||||
let c = h.classify(input).unwrap();
|
||||
|
||||
// Assert
|
||||
assert!(matches!(c, Classification::Ignored), "got {c:?}");
|
||||
assert_eq!(h.len().unwrap(), 0);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-2: end_of_pass returns objects un-observed during the pass.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac2_end_of_pass_returns_un_observed() {
|
||||
// Arrange
|
||||
let cfg = MapObjectsStoreConfig {
|
||||
distance_threshold_m: 5.0,
|
||||
move_threshold_m: 50.0,
|
||||
..MapObjectsStoreConfig::default()
|
||||
};
|
||||
let store = MapObjectsStore::new(cfg);
|
||||
let h = store.handle();
|
||||
// Seed three objects M1, M2, M3 spaced 50 m apart.
|
||||
let (m1_lat, m1_lon) = (ANCHOR_LAT, ANCHOR_LON);
|
||||
let (m2_lat, m2_lon) = shift_m(ANCHOR_LAT, ANCHOR_LON, 50.0, 0.0);
|
||||
let (m3_lat, m3_lon) = shift_m(ANCHOR_LAT, ANCHOR_LON, 100.0, 0.0);
|
||||
let m1_in = input(m1_lat, m1_lon, "tank");
|
||||
let m1_mgrs = m1_in.mgrs.clone();
|
||||
let _ = h.classify(m1_in).unwrap();
|
||||
let m2_in = input(m2_lat, m2_lon, "tank");
|
||||
let m2_mgrs = m2_in.mgrs.clone();
|
||||
let _ = h.classify(m2_in).unwrap();
|
||||
let m3_in = input(m3_lat, m3_lon, "tank");
|
||||
let m3_mgrs = m3_in.mgrs.clone();
|
||||
let _ = h.classify(m3_in).unwrap();
|
||||
let region = bbox(
|
||||
ANCHOR_LAT + 0.01,
|
||||
ANCHOR_LON - 0.01,
|
||||
ANCHOR_LAT - 0.01,
|
||||
ANCHOR_LON + 0.01,
|
||||
);
|
||||
|
||||
// Act — open pass, re-observe only M1, close pass.
|
||||
// Backdate seeded last_seen so the un-observed objects qualify.
|
||||
// (Pass tracker only flags objects whose last_seen <= pass.started_at;
|
||||
// since we just inserted them, advance the wall clock by sleeping is
|
||||
// expensive, so instead start the pass with an as-of slightly in
|
||||
// the future relative to the seeded timestamps.)
|
||||
std::thread::sleep(std::time::Duration::from_millis(2));
|
||||
h.pass_start(region).unwrap();
|
||||
// Re-observe M1 via a small ε offset so it stays an Existing match.
|
||||
let (m1_obs_lat, m1_obs_lon) = shift_m(m1_lat, m1_lon, 0.5, 0.0);
|
||||
let again = h.classify(input(m1_obs_lat, m1_obs_lon, "tank")).unwrap();
|
||||
assert!(matches!(again, Classification::Existing { .. }));
|
||||
let removed = h.end_of_pass(®ion).unwrap();
|
||||
|
||||
// Assert
|
||||
let mgrs_seen: Vec<_> = removed.iter().map(|r| r.mgrs.clone()).collect();
|
||||
assert!(
|
||||
mgrs_seen.contains(&m2_mgrs),
|
||||
"expected M2 in removed candidates, got {mgrs_seen:?}",
|
||||
);
|
||||
assert!(mgrs_seen.contains(&m3_mgrs));
|
||||
assert!(!mgrs_seen.contains(&m1_mgrs));
|
||||
assert_eq!(removed.len(), 2);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-3: end_of_pass excludes ignored objects from the candidate list.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac3_end_of_pass_excludes_ignored() {
|
||||
// Arrange
|
||||
let cfg = MapObjectsStoreConfig {
|
||||
distance_threshold_m: 5.0,
|
||||
move_threshold_m: 50.0,
|
||||
..MapObjectsStoreConfig::default()
|
||||
};
|
||||
let store = MapObjectsStore::new(cfg);
|
||||
let h = store.handle();
|
||||
let m2_in = input(ANCHOR_LAT, ANCHOR_LON, "tank");
|
||||
let m2_mgrs = m2_in.mgrs.clone();
|
||||
let _ = h.classify(m2_in).unwrap();
|
||||
let region = bbox(
|
||||
ANCHOR_LAT + 0.01,
|
||||
ANCHOR_LON - 0.01,
|
||||
ANCHOR_LAT - 0.01,
|
||||
ANCHOR_LON + 0.01,
|
||||
);
|
||||
h.append_ignored(ignored(&m2_mgrs, "tank")).unwrap();
|
||||
|
||||
// Act
|
||||
std::thread::sleep(std::time::Duration::from_millis(2));
|
||||
h.pass_start(region).unwrap();
|
||||
let removed = h.end_of_pass(®ion).unwrap();
|
||||
|
||||
// Assert — M2 was un-observed during the pass but ignored, so it
|
||||
// MUST NOT be surfaced.
|
||||
assert!(
|
||||
removed.iter().all(|r| r.mgrs != m2_mgrs),
|
||||
"ignored object leaked into removed candidates: {removed:?}",
|
||||
);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// apply_decline(POI) installs the equivalent IgnoredItem.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn apply_decline_suppresses_subsequent_detections() {
|
||||
use shared::models::poi::{Poi, VlmPipelineStatus};
|
||||
// Arrange
|
||||
let store = MapObjectsStore::default();
|
||||
let h = store.handle();
|
||||
let now = Utc::now();
|
||||
let poi = Poi {
|
||||
id: Uuid::new_v4(),
|
||||
confidence: 0.9,
|
||||
mgrs: "MGRS-DECLINED".into(),
|
||||
class: "concealed_position".into(),
|
||||
class_group: "concealed_position_group".into(),
|
||||
source_detection_ids: vec![],
|
||||
enqueued_at: now,
|
||||
priority: 1.0,
|
||||
decline_suppressed: false,
|
||||
vlm_status: VlmPipelineStatus::NotRequested,
|
||||
tier2_evidence: None,
|
||||
deadline: now + ChronoDuration::seconds(60),
|
||||
};
|
||||
|
||||
// Act
|
||||
h.apply_decline(poi).unwrap();
|
||||
|
||||
// Assert
|
||||
assert!(h
|
||||
.is_ignored("MGRS-DECLINED", "concealed_position_group")
|
||||
.unwrap());
|
||||
}
|
||||
@@ -15,3 +15,6 @@ mapobjects_store = { workspace = true }
|
||||
tokio = { workspace = true }
|
||||
tracing = { workspace = true }
|
||||
serde = { workspace = true }
|
||||
thiserror = { workspace = true }
|
||||
async-trait = { workspace = true }
|
||||
chrono = { workspace = true }
|
||||
|
||||
@@ -0,0 +1,77 @@
|
||||
//! Abstraction over the airframe-control surface used by the FSM.
|
||||
//!
|
||||
//! Production impl wraps `mavlink_layer::MavlinkHandle` (mission upload
|
||||
//! sequence, `MAV_CMD_COMPONENT_ARM_DISARM`, `MAV_CMD_NAV_TAKEOFF`,
|
||||
//! `MAV_CMD_DO_SET_MODE`, etc.). The wiring of the production impl
|
||||
//! lands together with AZ-649 (telemetry forwarding) — AZ-648 only
|
||||
//! commits to the trait and the in-process fake used by the AC tests.
|
||||
//!
|
||||
//! The trait is intentionally narrow: each method is one step the FSM
|
||||
//! treats as atomic. `upload_mission` covers the entire `MISSION_CLEAR_ALL
|
||||
//! → MISSION_COUNT → MISSION_ITEM_INT* → MISSION_ACK → MISSION_SET_CURRENT`
|
||||
//! sequence so the FSM stays a pure transition driver and does not
|
||||
//! own per-message MAVLink state.
|
||||
|
||||
use async_trait::async_trait;
|
||||
use shared::models::mission::MissionWaypoint;
|
||||
|
||||
/// Errors a driver can return for a single FSM step.
|
||||
#[derive(Debug, Clone, thiserror::Error)]
|
||||
pub enum DriverError {
|
||||
/// Airframe rejected the command (e.g., MissionAck with non-zero
|
||||
/// `mission_result`, or CommandAck != ACCEPTED). The FSM retries.
|
||||
#[error("airframe rejected: {0}")]
|
||||
Rejected(String),
|
||||
|
||||
/// Deadline elapsed before the airframe responded. The FSM retries.
|
||||
#[error("driver timeout after {ms} ms")]
|
||||
Timeout { ms: u64 },
|
||||
|
||||
/// Transport / IO failure. The FSM retries.
|
||||
#[error("driver transport: {0}")]
|
||||
Transport(String),
|
||||
}
|
||||
|
||||
/// Discriminator for the retry/health stats so the driver impl can
|
||||
/// log which kind of action just failed.
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
|
||||
pub enum DriverAction {
|
||||
Arm,
|
||||
TakeOff,
|
||||
UploadMission,
|
||||
/// Used by the lost-link ladder (AZ-651) and by tests that
|
||||
/// programmatically force the fixed-wing AUTO transition. AZ-648
|
||||
/// itself routes `WaitAuto → FlyMission` through telemetry only.
|
||||
#[allow(dead_code)]
|
||||
SetAutoMode,
|
||||
PostFlightSync,
|
||||
}
|
||||
|
||||
#[async_trait]
|
||||
pub trait MissionDriver: Send + Sync {
|
||||
/// Send `MAV_CMD_COMPONENT_ARM_DISARM(arm=1)` and resolve when the
|
||||
/// matching `COMMAND_ACK(MAV_RESULT_ACCEPTED)` arrives.
|
||||
async fn arm(&self) -> Result<(), DriverError>;
|
||||
|
||||
/// Send `MAV_CMD_NAV_TAKEOFF` with the configured altitude and
|
||||
/// resolve when the matching `COMMAND_ACK` arrives. The transition
|
||||
/// to `MissionState::MissionUploaded` is gated separately on
|
||||
/// `telemetry.takeoff_complete`.
|
||||
async fn takeoff(&self, altitude_m: f32) -> Result<(), DriverError>;
|
||||
|
||||
/// Run the full mission upload sequence: `MISSION_CLEAR_ALL →
|
||||
/// MISSION_COUNT → MISSION_ITEM_INT* → MISSION_ACK →
|
||||
/// MISSION_SET_CURRENT(0)`. The driver MUST return `Err(Rejected)`
|
||||
/// when the airframe responds with a non-zero `mission_result`.
|
||||
async fn upload_mission(&self, items: &[MissionWaypoint]) -> Result<(), DriverError>;
|
||||
|
||||
/// Send `MAV_CMD_DO_SET_MODE` to AUTO. Used by the fixed-wing
|
||||
/// variant to transition out of `WaitAuto` programmatically when
|
||||
/// the operator has not done it externally.
|
||||
async fn set_auto_mode(&self) -> Result<(), DriverError>;
|
||||
|
||||
/// Post-flight push to ground services. Full implementation lands
|
||||
/// in AZ-652; AZ-648 only requires that the driver expose the
|
||||
/// entry point so the FSM can advance through `PostFlightSync`.
|
||||
async fn post_flight_sync(&self) -> Result<(), DriverError>;
|
||||
}
|
||||
@@ -0,0 +1,114 @@
|
||||
//! Fixed-wing transition table:
|
||||
//! `Disconnected → Connected → HealthOk → BitOk → MissionUploaded →
|
||||
//! WaitAuto → FlyMission → Land → PostFlightSync → Done`.
|
||||
//!
|
||||
//! Operator launches the airframe and sets AUTO externally — the FSM
|
||||
//! has no `Armed` / `TakeOff` states. Per `architecture.md §5.7`
|
||||
//! fixed-wing launch is a manual ground-side procedure.
|
||||
|
||||
use super::driver::DriverAction;
|
||||
use super::fsm::{GuardOutcome, Transition};
|
||||
use super::types::{MissionState, Telemetry};
|
||||
|
||||
fn link_up(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
fn health_ok(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.health_ok {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
fn bit_ok(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.health_ok && t.bit_ok {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// BitOk → MissionUploaded: upload the mission as soon as BIT passes;
|
||||
// the operator can then switch the airframe to AUTO at any point.
|
||||
fn upload_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.bit_ok {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// MissionUploaded → WaitAuto: pure-advance. WaitAuto is the parking
|
||||
// state while we wait for the operator's AUTO selection.
|
||||
fn always_ready(_: &Telemetry) -> GuardOutcome {
|
||||
GuardOutcome::Ready
|
||||
}
|
||||
|
||||
// WaitAuto → FlyMission: airframe transitioned to AUTO.
|
||||
fn fly_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.flight_mode_auto {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
fn land_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.mission_reached_final {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
fn post_flight_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.landed_disarmed {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
pub(crate) const TABLE: &[Transition] = &[
|
||||
Transition::pure(MissionState::Disconnected, MissionState::Connected, link_up),
|
||||
Transition::pure(MissionState::Connected, MissionState::HealthOk, health_ok),
|
||||
Transition::pure(MissionState::HealthOk, MissionState::BitOk, bit_ok),
|
||||
Transition::with_action(
|
||||
MissionState::BitOk,
|
||||
MissionState::MissionUploaded,
|
||||
upload_precondition,
|
||||
DriverAction::UploadMission,
|
||||
),
|
||||
Transition::pure(
|
||||
MissionState::MissionUploaded,
|
||||
MissionState::WaitAuto,
|
||||
always_ready,
|
||||
),
|
||||
Transition::pure(
|
||||
MissionState::WaitAuto,
|
||||
MissionState::FlyMission,
|
||||
fly_precondition,
|
||||
),
|
||||
Transition::pure(
|
||||
MissionState::FlyMission,
|
||||
MissionState::Land,
|
||||
land_precondition,
|
||||
),
|
||||
Transition::pure(
|
||||
MissionState::Land,
|
||||
MissionState::PostFlightSync,
|
||||
post_flight_precondition,
|
||||
),
|
||||
Transition::with_action(
|
||||
MissionState::PostFlightSync,
|
||||
MissionState::Done,
|
||||
always_ready,
|
||||
DriverAction::PostFlightSync,
|
||||
),
|
||||
];
|
||||
@@ -0,0 +1,217 @@
|
||||
//! Variant-agnostic FSM core. The multirotor and fixed-wing modules
|
||||
//! supply their own transition tables; this module owns the retry
|
||||
//! budget, the broadcast event sender, and the "step one transition"
|
||||
//! protocol shared by both.
|
||||
|
||||
use std::collections::HashMap;
|
||||
|
||||
use chrono::Utc;
|
||||
use tokio::sync::broadcast;
|
||||
|
||||
use super::driver::{DriverAction, DriverError, MissionDriver};
|
||||
use super::types::{MissionState, StepOutcome, Telemetry, TransitionEvent, TransitionKey, Variant};
|
||||
|
||||
/// Result of a single transition's guard evaluation.
|
||||
pub(crate) enum GuardOutcome {
|
||||
/// Precondition met; the FSM should run the action.
|
||||
Ready,
|
||||
/// Precondition not met yet; the FSM should wait for the next
|
||||
/// telemetry tick.
|
||||
NotYet,
|
||||
}
|
||||
|
||||
/// One row of a per-variant transition table.
|
||||
pub(crate) struct Transition {
|
||||
pub from: MissionState,
|
||||
pub to: MissionState,
|
||||
/// Inspected each tick; returns `Ready` when the FSM should
|
||||
/// attempt the action and advance to `to`.
|
||||
pub guard: fn(&Telemetry) -> GuardOutcome,
|
||||
/// `Some(action)` for transitions that must issue a driver call
|
||||
/// (arm, takeoff, mission upload, post-flight sync). `None` for
|
||||
/// pure telemetry-gated advances (e.g. `Disconnected → Connected`).
|
||||
pub action: Option<DriverAction>,
|
||||
}
|
||||
|
||||
impl Transition {
|
||||
pub const fn pure(
|
||||
from: MissionState,
|
||||
to: MissionState,
|
||||
guard: fn(&Telemetry) -> GuardOutcome,
|
||||
) -> Self {
|
||||
Self {
|
||||
from,
|
||||
to,
|
||||
guard,
|
||||
action: None,
|
||||
}
|
||||
}
|
||||
|
||||
pub const fn with_action(
|
||||
from: MissionState,
|
||||
to: MissionState,
|
||||
guard: fn(&Telemetry) -> GuardOutcome,
|
||||
action: DriverAction,
|
||||
) -> Self {
|
||||
Self {
|
||||
from,
|
||||
to,
|
||||
guard,
|
||||
action: Some(action),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Shared FSM state used by both variants. Each variant owns its
|
||||
/// transition table (a `&'static [Transition]`).
|
||||
pub(crate) struct FsmCore {
|
||||
pub variant: Variant,
|
||||
pub state: MissionState,
|
||||
pub retries: HashMap<TransitionKey, u32>,
|
||||
pub retry_cap: u32,
|
||||
pub events: broadcast::Sender<TransitionEvent>,
|
||||
pub paused_reason: Option<String>,
|
||||
pub mission: Vec<shared::models::mission::MissionWaypoint>,
|
||||
/// Multirotor takeoff altitude (metres AGL). Ignored for fixed-wing.
|
||||
pub takeoff_altitude_m: f32,
|
||||
}
|
||||
|
||||
impl FsmCore {
|
||||
pub fn new(
|
||||
variant: Variant,
|
||||
retry_cap: u32,
|
||||
mission: Vec<shared::models::mission::MissionWaypoint>,
|
||||
events: broadcast::Sender<TransitionEvent>,
|
||||
takeoff_altitude_m: f32,
|
||||
) -> Self {
|
||||
Self {
|
||||
variant,
|
||||
state: MissionState::Disconnected,
|
||||
retries: HashMap::new(),
|
||||
retry_cap,
|
||||
events,
|
||||
paused_reason: None,
|
||||
mission,
|
||||
takeoff_altitude_m,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn retry_count(&self, key: &TransitionKey) -> u32 {
|
||||
*self.retries.get(key).unwrap_or(&0)
|
||||
}
|
||||
}
|
||||
|
||||
/// Attempt to advance the FSM by one transition using the supplied
|
||||
/// variant-specific transition table.
|
||||
pub(crate) async fn step_one(
|
||||
core: &mut FsmCore,
|
||||
table: &'static [Transition],
|
||||
telemetry: &Telemetry,
|
||||
driver: &dyn MissionDriver,
|
||||
) -> StepOutcome {
|
||||
// Already-terminal short-circuits.
|
||||
if core.state == MissionState::Done {
|
||||
return StepOutcome::AlreadyDone;
|
||||
}
|
||||
if core.state == MissionState::Paused {
|
||||
return StepOutcome::Paused {
|
||||
reason: core.paused_reason.clone().unwrap_or_default(),
|
||||
};
|
||||
}
|
||||
|
||||
// Find the transition rooted at the current state. Each state has
|
||||
// at most one outgoing transition in either variant's table; this
|
||||
// is the typed-discipline AZ-648 §Outcome calls for.
|
||||
let Some(t) = table.iter().find(|t| t.from == core.state) else {
|
||||
return StepOutcome::NoProgress;
|
||||
};
|
||||
|
||||
match (t.guard)(telemetry) {
|
||||
GuardOutcome::NotYet => return StepOutcome::NoProgress,
|
||||
GuardOutcome::Ready => {}
|
||||
}
|
||||
|
||||
let key = TransitionKey::new(t.from, t.to);
|
||||
|
||||
// Pure-guard transition (no driver action). Advance immediately.
|
||||
let Some(action) = t.action else {
|
||||
return advance(core, key);
|
||||
};
|
||||
|
||||
// Driver-action transition. Issue the action; on Ok advance, on
|
||||
// Err bump the per-transition retry counter and either retry
|
||||
// (next tick) or pause.
|
||||
let action_result = run_action(action, core, driver).await;
|
||||
match action_result {
|
||||
Ok(()) => {
|
||||
// Successful action — clear this transition's retry
|
||||
// counter and advance.
|
||||
core.retries.remove(&key);
|
||||
advance(core, key)
|
||||
}
|
||||
Err(e) => {
|
||||
let new_count = core.retries.entry(key).or_insert(0);
|
||||
*new_count += 1;
|
||||
let count = *new_count;
|
||||
tracing::warn!(
|
||||
from = ?key.from,
|
||||
to = ?key.to,
|
||||
action = ?action,
|
||||
attempt = count,
|
||||
max = core.retry_cap,
|
||||
error = %e,
|
||||
"mission_executor transition retry"
|
||||
);
|
||||
if count >= core.retry_cap {
|
||||
let reason = format!(
|
||||
"{action:?} cap-exhausted at {from:?}→{to:?}: {e}",
|
||||
from = key.from,
|
||||
to = key.to,
|
||||
);
|
||||
core.state = MissionState::Paused;
|
||||
core.paused_reason = Some(reason.clone());
|
||||
let _ = core.events.send(TransitionEvent {
|
||||
variant: core.variant,
|
||||
from: key.from,
|
||||
to: MissionState::Paused,
|
||||
at: Utc::now(),
|
||||
retry_count: count,
|
||||
});
|
||||
StepOutcome::Paused { reason }
|
||||
} else {
|
||||
StepOutcome::Retried {
|
||||
transition: key,
|
||||
retry_count: count,
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
async fn run_action(
|
||||
action: DriverAction,
|
||||
core: &FsmCore,
|
||||
driver: &dyn MissionDriver,
|
||||
) -> Result<(), DriverError> {
|
||||
match action {
|
||||
DriverAction::Arm => driver.arm().await,
|
||||
DriverAction::TakeOff => driver.takeoff(core.takeoff_altitude_m).await,
|
||||
DriverAction::UploadMission => driver.upload_mission(&core.mission).await,
|
||||
DriverAction::SetAutoMode => driver.set_auto_mode().await,
|
||||
DriverAction::PostFlightSync => driver.post_flight_sync().await,
|
||||
}
|
||||
}
|
||||
|
||||
fn advance(core: &mut FsmCore, key: TransitionKey) -> StepOutcome {
|
||||
let from = core.state;
|
||||
core.state = key.to;
|
||||
let retry_count = core.retries.get(&key).copied().unwrap_or(0);
|
||||
let _ = core.events.send(TransitionEvent {
|
||||
variant: core.variant,
|
||||
from,
|
||||
to: key.to,
|
||||
at: Utc::now(),
|
||||
retry_count,
|
||||
});
|
||||
StepOutcome::Advanced { from, to: key.to }
|
||||
}
|
||||
@@ -0,0 +1,7 @@
|
||||
//! Internal modules for `mission_executor`. Not part of the public API.
|
||||
|
||||
pub mod driver;
|
||||
pub mod fixed_wing;
|
||||
pub mod fsm;
|
||||
pub mod multirotor;
|
||||
pub mod types;
|
||||
@@ -0,0 +1,141 @@
|
||||
//! Multirotor transition table:
|
||||
//! `Disconnected → Connected → HealthOk → BitOk → Armed → TakeOff →
|
||||
//! MissionUploaded → FlyMission → Land → PostFlightSync → Done`.
|
||||
|
||||
use super::driver::DriverAction;
|
||||
use super::fsm::{GuardOutcome, Transition};
|
||||
use super::types::{MissionState, Telemetry};
|
||||
|
||||
fn link_up(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
fn health_ok(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.health_ok {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
fn bit_ok(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.health_ok && t.bit_ok {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// BitOk → Armed: precondition is "BIT passed". Arming itself is a
|
||||
// driver action; success is reported by COMMAND_ACK in `driver.arm()`.
|
||||
fn arm_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.bit_ok {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// Armed → TakeOff: driver issues `MAV_CMD_NAV_TAKEOFF`; gate is
|
||||
// telemetry.armed (so we don't issue takeoff before arm ack lands).
|
||||
fn takeoff_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.armed {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// TakeOff → MissionUploaded: wait until takeoff finishes, then upload.
|
||||
fn upload_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.takeoff_complete {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// MissionUploaded → FlyMission: pure-telemetry advance once airframe
|
||||
// reports it is in the AUTO flight mode (multirotor: ArduPilot sets
|
||||
// AUTO automatically after `MISSION_SET_CURRENT(0)` + takeoff complete).
|
||||
fn fly_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.link_up && t.flight_mode_auto {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// FlyMission → Land: mission reached its final waypoint.
|
||||
fn land_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.mission_reached_final {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// Land → PostFlightSync: airframe is on the ground and disarmed.
|
||||
fn post_flight_precondition(t: &Telemetry) -> GuardOutcome {
|
||||
if t.landed_disarmed {
|
||||
GuardOutcome::Ready
|
||||
} else {
|
||||
GuardOutcome::NotYet
|
||||
}
|
||||
}
|
||||
|
||||
// PostFlightSync → Done: post-flight sync action returned Ok.
|
||||
// Guard always returns Ready; the action itself produces the
|
||||
// retry/fail signal.
|
||||
fn always_ready(_: &Telemetry) -> GuardOutcome {
|
||||
GuardOutcome::Ready
|
||||
}
|
||||
|
||||
pub(crate) const TABLE: &[Transition] = &[
|
||||
Transition::pure(MissionState::Disconnected, MissionState::Connected, link_up),
|
||||
Transition::pure(MissionState::Connected, MissionState::HealthOk, health_ok),
|
||||
Transition::pure(MissionState::HealthOk, MissionState::BitOk, bit_ok),
|
||||
Transition::with_action(
|
||||
MissionState::BitOk,
|
||||
MissionState::Armed,
|
||||
arm_precondition,
|
||||
DriverAction::Arm,
|
||||
),
|
||||
Transition::with_action(
|
||||
MissionState::Armed,
|
||||
MissionState::TakeOff,
|
||||
takeoff_precondition,
|
||||
DriverAction::TakeOff,
|
||||
),
|
||||
Transition::with_action(
|
||||
MissionState::TakeOff,
|
||||
MissionState::MissionUploaded,
|
||||
upload_precondition,
|
||||
DriverAction::UploadMission,
|
||||
),
|
||||
Transition::pure(
|
||||
MissionState::MissionUploaded,
|
||||
MissionState::FlyMission,
|
||||
fly_precondition,
|
||||
),
|
||||
Transition::pure(
|
||||
MissionState::FlyMission,
|
||||
MissionState::Land,
|
||||
land_precondition,
|
||||
),
|
||||
Transition::pure(
|
||||
MissionState::Land,
|
||||
MissionState::PostFlightSync,
|
||||
post_flight_precondition,
|
||||
),
|
||||
Transition::with_action(
|
||||
MissionState::PostFlightSync,
|
||||
MissionState::Done,
|
||||
always_ready,
|
||||
DriverAction::PostFlightSync,
|
||||
),
|
||||
];
|
||||
@@ -0,0 +1,105 @@
|
||||
//! Shared types for both variant state machines.
|
||||
|
||||
use chrono::{DateTime, Utc};
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
/// Airframe variant. Fixed at startup; no runtime swap (AZ-648 §Constraints).
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
|
||||
#[serde(rename_all = "snake_case")]
|
||||
pub enum Variant {
|
||||
Multirotor,
|
||||
FixedWing,
|
||||
}
|
||||
|
||||
/// Union of all states across both variants. Per-variant transition
|
||||
/// tables limit which states a given variant can reach.
|
||||
///
|
||||
/// - Multirotor: `Disconnected → Connected → HealthOk → BitOk → Armed
|
||||
/// → TakeOff → MissionUploaded → FlyMission → Land → PostFlightSync
|
||||
/// → Done`.
|
||||
/// - Fixed-wing: `Disconnected → Connected → HealthOk → BitOk →
|
||||
/// MissionUploaded → WaitAuto → FlyMission → Land → PostFlightSync
|
||||
/// → Done`.
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash, Serialize, Deserialize)]
|
||||
#[serde(rename_all = "SCREAMING_SNAKE_CASE")]
|
||||
pub enum MissionState {
|
||||
Disconnected,
|
||||
Connected,
|
||||
HealthOk,
|
||||
BitOk,
|
||||
Armed,
|
||||
TakeOff,
|
||||
MissionUploaded,
|
||||
WaitAuto,
|
||||
FlyMission,
|
||||
Land,
|
||||
PostFlightSync,
|
||||
Done,
|
||||
Paused,
|
||||
}
|
||||
|
||||
/// Stable identifier for a single state→state edge. Used to key the
|
||||
/// per-transition retry counter so a retry budget in one phase
|
||||
/// doesn't poison another.
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash, Serialize, Deserialize)]
|
||||
pub struct TransitionKey {
|
||||
pub from: MissionState,
|
||||
pub to: MissionState,
|
||||
}
|
||||
|
||||
impl TransitionKey {
|
||||
pub const fn new(from: MissionState, to: MissionState) -> Self {
|
||||
Self { from, to }
|
||||
}
|
||||
}
|
||||
|
||||
/// Telemetry view fed into each FSM tick. Fields are independent
|
||||
/// preconditions — different transitions look at different subsets.
|
||||
/// Updated by `mavlink_layer` consumers in production; injected
|
||||
/// directly in tests.
|
||||
#[derive(Debug, Clone, Copy, Default)]
|
||||
pub struct Telemetry {
|
||||
pub link_up: bool,
|
||||
pub health_ok: bool,
|
||||
pub bit_ok: bool,
|
||||
pub armed: bool,
|
||||
pub takeoff_complete: bool,
|
||||
pub flight_mode_auto: bool,
|
||||
pub mission_reached_final: bool,
|
||||
pub landed_disarmed: bool,
|
||||
}
|
||||
|
||||
/// One state→state transition. Recorded for the broadcast event
|
||||
/// stream and used by `scan_controller` / `telemetry_stream`.
|
||||
#[derive(Debug, Clone)]
|
||||
pub struct TransitionEvent {
|
||||
pub variant: Variant,
|
||||
pub from: MissionState,
|
||||
pub to: MissionState,
|
||||
pub at: DateTime<Utc>,
|
||||
pub retry_count: u32,
|
||||
}
|
||||
|
||||
/// Outcome of a single FSM step.
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
pub enum StepOutcome {
|
||||
/// Guard not yet satisfied; no transition attempted this tick.
|
||||
NoProgress,
|
||||
/// FSM advanced to a new state.
|
||||
Advanced {
|
||||
from: MissionState,
|
||||
to: MissionState,
|
||||
},
|
||||
/// The current transition's retry counter incremented (e.g.,
|
||||
/// mission upload rejected by airframe). Counter value is the
|
||||
/// post-increment count.
|
||||
Retried {
|
||||
transition: TransitionKey,
|
||||
retry_count: u32,
|
||||
},
|
||||
/// Retry budget exhausted for this transition. The FSM is now
|
||||
/// `MissionState::Paused`; `health()` returns red.
|
||||
Paused { reason: String },
|
||||
/// Already-terminal state — no further work.
|
||||
AlreadyDone,
|
||||
}
|
||||
@@ -1,36 +1,94 @@
|
||||
//! `mission_executor` — multirotor + fixed-wing FSMs, geofence, failsafe.
|
||||
//!
|
||||
//! Real implementation lands in:
|
||||
//! - AZ-648 `mission_executor_state_machine`
|
||||
//! - AZ-649 `mission_executor_telemetry_forwarding`
|
||||
//! - AZ-650 `mission_executor_bit_f9`
|
||||
//! - AZ-651 `mission_executor_lost_link_ladder`
|
||||
//! - AZ-652 `mission_executor_safety_and_resume`
|
||||
//! AZ-648 lands the variant-aware state machine, the per-transition
|
||||
//! retry budget, and the broadcast event stream. Subsequent tasks add:
|
||||
//! - AZ-649 telemetry forwarding (wires real `Telemetry` from `mavlink_layer`)
|
||||
//! - AZ-650 BIT F9
|
||||
//! - AZ-651 lost-link ladder
|
||||
//! - AZ-652 safety + resume + middle-waypoint insert
|
||||
//!
|
||||
//! The FSM core is variant-agnostic; per-variant transition tables in
|
||||
//! [`internal::multirotor`] and [`internal::fixed_wing`] supply the
|
||||
//! allowed state graph. Each transition is either:
|
||||
//! - **Pure** — advances when its `Telemetry` guard returns `Ready`;
|
||||
//! no driver call is issued.
|
||||
//! - **Action-bearing** — invokes [`MissionDriver`] (arm, takeoff,
|
||||
//! mission upload, set-auto, post-flight sync) and only advances on
|
||||
//! `Ok(())`. On `Err` the per-transition retry counter increments;
|
||||
//! on cap exhaustion the FSM moves to [`MissionState::Paused`] and
|
||||
//! health flips to red.
|
||||
|
||||
use std::sync::Arc;
|
||||
use std::time::Duration;
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
use tokio::sync::{broadcast, watch, Mutex};
|
||||
use tokio::task::JoinHandle;
|
||||
use tokio::time::Instant;
|
||||
|
||||
use shared::error::{AutopilotError, Result};
|
||||
use shared::health::ComponentHealth;
|
||||
use shared::models::mission::{Coordinate, MissionItem};
|
||||
use shared::models::mission::{Coordinate, MissionItem, MissionWaypoint};
|
||||
|
||||
mod internal;
|
||||
|
||||
pub use internal::driver::{DriverError, MissionDriver};
|
||||
pub use internal::types::{
|
||||
MissionState, StepOutcome, Telemetry, TransitionEvent, TransitionKey, Variant,
|
||||
};
|
||||
|
||||
use internal::fsm::{step_one, FsmCore};
|
||||
|
||||
const NAME: &str = "mission_executor";
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
|
||||
#[serde(rename_all = "SCREAMING_SNAKE_CASE")]
|
||||
pub enum ExecutorState {
|
||||
Disconnected,
|
||||
PreFlight,
|
||||
Taxi,
|
||||
Climb,
|
||||
Cruise,
|
||||
MiddleWaypointInsert,
|
||||
TargetFollow,
|
||||
Rtl,
|
||||
Land,
|
||||
WaitAuto,
|
||||
Aborted,
|
||||
/// Default per-transition retry budget per AZ-648 §Non-Functional Requirements.
|
||||
pub const DEFAULT_RETRY_CAP: u32 = 3;
|
||||
|
||||
/// Default tick interval. ≤10 ms p99 budget per AZ-648; we tick at 50 Hz
|
||||
/// so each tick has ample headroom for one driver call.
|
||||
pub const DEFAULT_TICK: Duration = Duration::from_millis(20);
|
||||
|
||||
/// FSM construction parameters.
|
||||
#[derive(Debug, Clone)]
|
||||
pub struct MissionExecutorConfig {
|
||||
pub variant: Variant,
|
||||
/// Multirotor only. Ignored for fixed-wing.
|
||||
pub takeoff_altitude_m: f32,
|
||||
/// Default = [`DEFAULT_RETRY_CAP`].
|
||||
pub retry_cap: u32,
|
||||
/// Default = [`DEFAULT_TICK`].
|
||||
pub tick_interval: Duration,
|
||||
/// Broadcast channel capacity for [`TransitionEvent`]. Consumers
|
||||
/// that lag past this fall behind and lose events; transitions
|
||||
/// themselves still happen.
|
||||
pub event_channel_capacity: usize,
|
||||
}
|
||||
|
||||
impl MissionExecutorConfig {
|
||||
pub fn multirotor(takeoff_altitude_m: f32) -> Self {
|
||||
Self {
|
||||
variant: Variant::Multirotor,
|
||||
takeoff_altitude_m,
|
||||
retry_cap: DEFAULT_RETRY_CAP,
|
||||
tick_interval: DEFAULT_TICK,
|
||||
event_channel_capacity: 64,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn fixed_wing() -> Self {
|
||||
Self {
|
||||
variant: Variant::FixedWing,
|
||||
takeoff_altitude_m: 0.0,
|
||||
retry_cap: DEFAULT_RETRY_CAP,
|
||||
tick_interval: DEFAULT_TICK,
|
||||
event_channel_capacity: 64,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Legacy enums retained for AZ-651 / AZ-652 to consume. Not part of the
|
||||
// AZ-648 surface but still publicly exported to keep the public crate
|
||||
// API stable.
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
|
||||
#[serde(rename_all = "snake_case")]
|
||||
pub enum FailsafeKind {
|
||||
@@ -43,34 +101,140 @@ pub enum FailsafeKind {
|
||||
GeofenceExclusion,
|
||||
}
|
||||
|
||||
pub struct MissionExecutor;
|
||||
/// Top-level executor. Construct, then call [`MissionExecutor::run`]
|
||||
/// to spawn the FSM task. The returned [`MissionExecutorHandle`] is
|
||||
/// the read-side: state, health, transition event subscription.
|
||||
pub struct MissionExecutor {
|
||||
config: MissionExecutorConfig,
|
||||
}
|
||||
|
||||
impl MissionExecutor {
|
||||
pub fn new() -> Self {
|
||||
Self
|
||||
pub fn new(config: MissionExecutorConfig) -> Self {
|
||||
Self { config }
|
||||
}
|
||||
|
||||
pub fn handle(&self) -> MissionExecutorHandle {
|
||||
MissionExecutorHandle
|
||||
/// Spawn the FSM driver. Returns a handle to read state and a join
|
||||
/// handle for the background task.
|
||||
///
|
||||
/// `telemetry_rx` is a `watch::Receiver` so the producer (the
|
||||
/// `mavlink_layer` telemetry forwarder per AZ-649) can publish the
|
||||
/// latest snapshot without back-pressure. Each tick reads the
|
||||
/// current value; missed intermediate updates are intentionally
|
||||
/// dropped (the guards are level-triggered).
|
||||
pub fn run<D>(
|
||||
&self,
|
||||
driver: Arc<D>,
|
||||
mission: Vec<MissionWaypoint>,
|
||||
telemetry_rx: watch::Receiver<Telemetry>,
|
||||
) -> (MissionExecutorHandle, JoinHandle<()>)
|
||||
where
|
||||
D: MissionDriver + 'static,
|
||||
{
|
||||
let (events_tx, _events_rx) = broadcast::channel(self.config.event_channel_capacity.max(1));
|
||||
let core = FsmCore::new(
|
||||
self.config.variant,
|
||||
self.config.retry_cap,
|
||||
mission,
|
||||
events_tx.clone(),
|
||||
self.config.takeoff_altitude_m,
|
||||
);
|
||||
let core = Arc::new(Mutex::new(core));
|
||||
|
||||
let table: &'static [internal::fsm::Transition] = match self.config.variant {
|
||||
Variant::Multirotor => internal::multirotor::TABLE,
|
||||
Variant::FixedWing => internal::fixed_wing::TABLE,
|
||||
};
|
||||
|
||||
let tick = self.config.tick_interval;
|
||||
let core_for_task = core.clone();
|
||||
let driver_for_task: Arc<dyn MissionDriver> = driver;
|
||||
let handle = MissionExecutorHandle {
|
||||
core: core.clone(),
|
||||
events_tx: events_tx.clone(),
|
||||
};
|
||||
|
||||
let join = tokio::spawn(async move {
|
||||
run_loop(core_for_task, table, driver_for_task, telemetry_rx, tick).await;
|
||||
});
|
||||
|
||||
(handle, join)
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for MissionExecutor {
|
||||
fn default() -> Self {
|
||||
Self::new()
|
||||
async fn run_loop(
|
||||
core: Arc<Mutex<FsmCore>>,
|
||||
table: &'static [internal::fsm::Transition],
|
||||
driver: Arc<dyn MissionDriver>,
|
||||
mut telemetry_rx: watch::Receiver<Telemetry>,
|
||||
tick: Duration,
|
||||
) {
|
||||
let mut ticker = tokio::time::interval_at(Instant::now() + tick, tick);
|
||||
ticker.set_missed_tick_behavior(tokio::time::MissedTickBehavior::Skip);
|
||||
loop {
|
||||
ticker.tick().await;
|
||||
let telemetry = *telemetry_rx.borrow_and_update();
|
||||
let mut guard = core.lock().await;
|
||||
let outcome = step_one(&mut guard, table, &telemetry, driver.as_ref()).await;
|
||||
let terminal = matches!(
|
||||
outcome,
|
||||
StepOutcome::AlreadyDone | StepOutcome::Paused { .. }
|
||||
);
|
||||
drop(guard);
|
||||
if terminal {
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Clone, Copy)]
|
||||
pub struct MissionExecutorHandle;
|
||||
/// Read-side handle. Clone-safe.
|
||||
#[derive(Clone)]
|
||||
pub struct MissionExecutorHandle {
|
||||
core: Arc<Mutex<FsmCore>>,
|
||||
events_tx: broadcast::Sender<TransitionEvent>,
|
||||
}
|
||||
|
||||
impl MissionExecutorHandle {
|
||||
pub async fn start(&self, _mission: Vec<MissionItem>) -> Result<()> {
|
||||
Err(AutopilotError::NotImplemented(
|
||||
"mission_executor::start (AZ-648)",
|
||||
))
|
||||
/// Current FSM state. Cheap (single mutex lock).
|
||||
pub async fn state(&self) -> MissionState {
|
||||
self.core.lock().await.state
|
||||
}
|
||||
|
||||
/// Subscribe to the broadcast stream of [`TransitionEvent`]s.
|
||||
/// Each new subscriber starts from the next event published; past
|
||||
/// events are not replayed.
|
||||
pub fn subscribe(&self) -> broadcast::Receiver<TransitionEvent> {
|
||||
self.events_tx.subscribe()
|
||||
}
|
||||
|
||||
/// Post-increment retry counter for the given transition.
|
||||
pub async fn retry_count(&self, key: TransitionKey) -> u32 {
|
||||
self.core.lock().await.retry_count(&key)
|
||||
}
|
||||
|
||||
/// Reason the FSM paused, if it is paused.
|
||||
pub async fn paused_reason(&self) -> Option<String> {
|
||||
self.core.lock().await.paused_reason.clone()
|
||||
}
|
||||
|
||||
/// Aggregated health: red when paused, green when `Done`,
|
||||
/// yellow otherwise.
|
||||
pub async fn health(&self) -> ComponentHealth {
|
||||
let guard = self.core.lock().await;
|
||||
match guard.state {
|
||||
MissionState::Paused => {
|
||||
let reason = guard
|
||||
.paused_reason
|
||||
.clone()
|
||||
.unwrap_or_else(|| "paused".to_string());
|
||||
ComponentHealth::red(NAME, reason)
|
||||
}
|
||||
MissionState::Done => ComponentHealth::green(NAME).with_detail("mission complete"),
|
||||
other => ComponentHealth::yellow(NAME, format!("state={other:?}")),
|
||||
}
|
||||
}
|
||||
|
||||
/// Single-shot RPC-style endpoints kept on the handle for the
|
||||
/// follow-up tasks (AZ-651/AZ-652). Today they return `NotImplemented`.
|
||||
pub async fn insert_middle_waypoint(&self, _at: Coordinate) -> Result<()> {
|
||||
Err(AutopilotError::NotImplemented(
|
||||
"mission_executor::insert_middle_waypoint (AZ-652)",
|
||||
@@ -83,23 +247,71 @@ impl MissionExecutorHandle {
|
||||
))
|
||||
}
|
||||
|
||||
pub fn state(&self) -> ExecutorState {
|
||||
ExecutorState::Disconnected
|
||||
/// Pre-AZ-648 helper kept for callers that only need to validate a
|
||||
/// mission shape. The proper start path is [`MissionExecutor::run`].
|
||||
pub async fn start(&self, _mission: Vec<MissionItem>) -> Result<()> {
|
||||
Err(AutopilotError::NotImplemented(
|
||||
"mission_executor::start: use MissionExecutor::run (AZ-648)",
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
pub fn health(&self) -> ComponentHealth {
|
||||
ComponentHealth::disabled(NAME)
|
||||
trait HealthDetail {
|
||||
fn with_detail(self, detail: impl Into<String>) -> Self;
|
||||
}
|
||||
|
||||
impl HealthDetail for ComponentHealth {
|
||||
fn with_detail(mut self, detail: impl Into<String>) -> Self {
|
||||
self.detail = Some(detail.into());
|
||||
self
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use async_trait::async_trait;
|
||||
|
||||
#[test]
|
||||
fn it_compiles() {
|
||||
let h = MissionExecutor::new().handle();
|
||||
assert_eq!(h.state(), ExecutorState::Disconnected);
|
||||
assert_eq!(h.health().level, shared::health::HealthLevel::Disabled);
|
||||
struct NeverCalledDriver;
|
||||
|
||||
#[async_trait]
|
||||
impl MissionDriver for NeverCalledDriver {
|
||||
async fn arm(&self) -> std::result::Result<(), DriverError> {
|
||||
panic!("arm called");
|
||||
}
|
||||
async fn takeoff(&self, _altitude_m: f32) -> std::result::Result<(), DriverError> {
|
||||
panic!("takeoff called");
|
||||
}
|
||||
async fn upload_mission(
|
||||
&self,
|
||||
_items: &[MissionWaypoint],
|
||||
) -> std::result::Result<(), DriverError> {
|
||||
panic!("upload_mission called");
|
||||
}
|
||||
async fn set_auto_mode(&self) -> std::result::Result<(), DriverError> {
|
||||
panic!("set_auto_mode called");
|
||||
}
|
||||
async fn post_flight_sync(&self) -> std::result::Result<(), DriverError> {
|
||||
panic!("post_flight_sync called");
|
||||
}
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn handle_starts_in_disconnected_with_yellow_health() {
|
||||
// Arrange
|
||||
let exec = MissionExecutor::new(MissionExecutorConfig::multirotor(10.0));
|
||||
let (_tx, rx) = watch::channel(Telemetry::default());
|
||||
let driver = Arc::new(NeverCalledDriver);
|
||||
|
||||
// Act
|
||||
let (handle, join) = exec.run(driver, vec![], rx);
|
||||
|
||||
// Assert
|
||||
assert_eq!(handle.state().await, MissionState::Disconnected);
|
||||
let health = handle.health().await;
|
||||
assert_eq!(health.level, shared::health::HealthLevel::Yellow);
|
||||
|
||||
// Cleanup
|
||||
join.abort();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,448 @@
|
||||
//! AZ-648 acceptance criteria.
|
||||
//!
|
||||
//! AC-1 / AC-2 — happy-path multirotor / fixed-wing flow with a fake
|
||||
//! driver. The driver stands in for the SITL conformance target; the
|
||||
//! state graph and event publication are what the AC asserts.
|
||||
//!
|
||||
//! AC-3 — bounded retry on mission-upload rejection: first attempt
|
||||
//! rejected, second succeeds, FSM proceeds.
|
||||
//!
|
||||
//! AC-4 — cap exhaustion: all 3 default attempts rejected → FSM pauses,
|
||||
//! health → red, transition event published, no transition past
|
||||
//! `MissionUploaded`.
|
||||
|
||||
use std::sync::atomic::{AtomicU32, Ordering};
|
||||
use std::sync::Arc;
|
||||
use std::time::Duration;
|
||||
|
||||
use async_trait::async_trait;
|
||||
use mission_executor::{
|
||||
DriverError, MissionDriver, MissionExecutor, MissionExecutorConfig, MissionState, StepOutcome,
|
||||
Telemetry, TransitionKey, Variant, DEFAULT_RETRY_CAP,
|
||||
};
|
||||
use shared::health::HealthLevel;
|
||||
use shared::models::mission::{MavCommand, MavFrame, MissionWaypoint};
|
||||
use tokio::sync::watch;
|
||||
use tokio::time::timeout;
|
||||
|
||||
/// Configurable in-memory driver. Counts every action and can be
|
||||
/// scripted to reject the next N upload calls.
|
||||
struct ScriptedDriver {
|
||||
arm_calls: AtomicU32,
|
||||
takeoff_calls: AtomicU32,
|
||||
upload_calls: AtomicU32,
|
||||
set_auto_calls: AtomicU32,
|
||||
post_flight_calls: AtomicU32,
|
||||
reject_first_n_uploads: AtomicU32,
|
||||
}
|
||||
|
||||
impl ScriptedDriver {
|
||||
fn new() -> Arc<Self> {
|
||||
Arc::new(Self {
|
||||
arm_calls: AtomicU32::new(0),
|
||||
takeoff_calls: AtomicU32::new(0),
|
||||
upload_calls: AtomicU32::new(0),
|
||||
set_auto_calls: AtomicU32::new(0),
|
||||
post_flight_calls: AtomicU32::new(0),
|
||||
reject_first_n_uploads: AtomicU32::new(0),
|
||||
})
|
||||
}
|
||||
|
||||
fn reject_next_uploads(&self, n: u32) {
|
||||
self.reject_first_n_uploads.store(n, Ordering::SeqCst);
|
||||
}
|
||||
}
|
||||
|
||||
#[async_trait]
|
||||
impl MissionDriver for ScriptedDriver {
|
||||
async fn arm(&self) -> Result<(), DriverError> {
|
||||
self.arm_calls.fetch_add(1, Ordering::SeqCst);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
async fn takeoff(&self, _altitude_m: f32) -> Result<(), DriverError> {
|
||||
self.takeoff_calls.fetch_add(1, Ordering::SeqCst);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
async fn upload_mission(&self, _items: &[MissionWaypoint]) -> Result<(), DriverError> {
|
||||
self.upload_calls.fetch_add(1, Ordering::SeqCst);
|
||||
loop {
|
||||
let remaining = self.reject_first_n_uploads.load(Ordering::SeqCst);
|
||||
if remaining == 0 {
|
||||
return Ok(());
|
||||
}
|
||||
if self
|
||||
.reject_first_n_uploads
|
||||
.compare_exchange(remaining, remaining - 1, Ordering::SeqCst, Ordering::SeqCst)
|
||||
.is_ok()
|
||||
{
|
||||
return Err(DriverError::Rejected("simulated".into()));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
async fn set_auto_mode(&self) -> Result<(), DriverError> {
|
||||
self.set_auto_calls.fetch_add(1, Ordering::SeqCst);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
async fn post_flight_sync(&self) -> Result<(), DriverError> {
|
||||
self.post_flight_calls.fetch_add(1, Ordering::SeqCst);
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
/// Drive `telemetry_rx` forward through a script while polling the
|
||||
/// executor until `target` is reached. The script entries are applied
|
||||
/// in order — each one waits up to `step_timeout` for the FSM to
|
||||
/// advance past `prev`, then publishes the next telemetry snapshot.
|
||||
async fn await_state(
|
||||
handle: &mission_executor::MissionExecutorHandle,
|
||||
target: MissionState,
|
||||
overall: Duration,
|
||||
) {
|
||||
let res = timeout(overall, async {
|
||||
loop {
|
||||
if handle.state().await == target {
|
||||
return;
|
||||
}
|
||||
tokio::time::sleep(Duration::from_millis(5)).await;
|
||||
}
|
||||
})
|
||||
.await;
|
||||
if res.is_err() {
|
||||
let actual = handle.state().await;
|
||||
panic!("FSM did not reach {target:?}; stuck at {actual:?}");
|
||||
}
|
||||
}
|
||||
|
||||
fn one_waypoint() -> Vec<MissionWaypoint> {
|
||||
vec![MissionWaypoint {
|
||||
seq: 0,
|
||||
frame: MavFrame::MavFrameGlobalRelativeAlt,
|
||||
command: MavCommand::MavCmdNavWaypoint,
|
||||
current: true,
|
||||
auto_continue: true,
|
||||
param_1: 0.0,
|
||||
param_2: 0.0,
|
||||
param_3: 0.0,
|
||||
param_4: 0.0,
|
||||
lat_deg_e7: 0,
|
||||
lon_deg_e7: 0,
|
||||
alt_m: 50.0,
|
||||
}]
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac1_multirotor_happy_path_reaches_done() {
|
||||
// Arrange
|
||||
let driver = ScriptedDriver::new();
|
||||
let exec = MissionExecutor::new(MissionExecutorConfig {
|
||||
tick_interval: Duration::from_millis(5),
|
||||
..MissionExecutorConfig::multirotor(10.0)
|
||||
});
|
||||
let (tx, rx) = watch::channel(Telemetry::default());
|
||||
let (handle, join) = exec.run(driver.clone(), one_waypoint(), rx);
|
||||
let mut events = handle.subscribe();
|
||||
|
||||
// Act / Assert — step the telemetry script.
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::Connected, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::HealthOk, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::BitOk, Duration::from_secs(1)).await;
|
||||
await_state(&handle, MissionState::Armed, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
armed: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::TakeOff, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
armed: true,
|
||||
takeoff_complete: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(
|
||||
&handle,
|
||||
MissionState::MissionUploaded,
|
||||
Duration::from_secs(1),
|
||||
)
|
||||
.await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
armed: true,
|
||||
takeoff_complete: true,
|
||||
flight_mode_auto: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::FlyMission, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
armed: true,
|
||||
takeoff_complete: true,
|
||||
flight_mode_auto: true,
|
||||
mission_reached_final: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::Land, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
armed: false,
|
||||
takeoff_complete: true,
|
||||
flight_mode_auto: true,
|
||||
mission_reached_final: true,
|
||||
landed_disarmed: true,
|
||||
})
|
||||
.unwrap();
|
||||
await_state(
|
||||
&handle,
|
||||
MissionState::PostFlightSync,
|
||||
Duration::from_secs(1),
|
||||
)
|
||||
.await;
|
||||
await_state(&handle, MissionState::Done, Duration::from_secs(1)).await;
|
||||
|
||||
// Assert — health is green at Done, driver saw exactly one of each action.
|
||||
let health = handle.health().await;
|
||||
assert_eq!(health.level, HealthLevel::Green);
|
||||
assert_eq!(driver.arm_calls.load(Ordering::SeqCst), 1);
|
||||
assert_eq!(driver.takeoff_calls.load(Ordering::SeqCst), 1);
|
||||
assert_eq!(driver.upload_calls.load(Ordering::SeqCst), 1);
|
||||
assert_eq!(driver.post_flight_calls.load(Ordering::SeqCst), 1);
|
||||
// No fixed-wing action on a multirotor flow.
|
||||
assert_eq!(driver.set_auto_calls.load(Ordering::SeqCst), 0);
|
||||
|
||||
// Drain the event stream — count distinct transitions; we expect
|
||||
// every state above to appear in order.
|
||||
let mut observed = Vec::new();
|
||||
while let Ok(evt) = events.try_recv() {
|
||||
observed.push((evt.from, evt.to));
|
||||
}
|
||||
assert!(observed.contains(&(MissionState::Disconnected, MissionState::Connected)));
|
||||
assert!(observed.contains(&(MissionState::PostFlightSync, MissionState::Done)));
|
||||
|
||||
let _ = join.await;
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac2_fixed_wing_happy_path_reaches_done() {
|
||||
// Arrange — fixed-wing skips Armed/TakeOff. The operator sets AUTO
|
||||
// externally; we model that by flipping `flight_mode_auto` while
|
||||
// the FSM is parked in WaitAuto.
|
||||
let driver = ScriptedDriver::new();
|
||||
let exec = MissionExecutor::new(MissionExecutorConfig {
|
||||
tick_interval: Duration::from_millis(5),
|
||||
..MissionExecutorConfig::fixed_wing()
|
||||
});
|
||||
let (tx, rx) = watch::channel(Telemetry::default());
|
||||
let (handle, join) = exec.run(driver.clone(), one_waypoint(), rx);
|
||||
|
||||
// Act / Assert
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::WaitAuto, Duration::from_secs(2)).await;
|
||||
assert_eq!(driver.arm_calls.load(Ordering::SeqCst), 0);
|
||||
assert_eq!(driver.takeoff_calls.load(Ordering::SeqCst), 0);
|
||||
assert_eq!(driver.upload_calls.load(Ordering::SeqCst), 1);
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
flight_mode_auto: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::FlyMission, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
flight_mode_auto: true,
|
||||
mission_reached_final: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::Land, Duration::from_secs(1)).await;
|
||||
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
flight_mode_auto: true,
|
||||
mission_reached_final: true,
|
||||
landed_disarmed: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::Done, Duration::from_secs(2)).await;
|
||||
|
||||
assert_eq!(handle.health().await.level, HealthLevel::Green);
|
||||
let _ = join.await;
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac3_bounded_retry_then_success() {
|
||||
// Arrange — reject the first upload attempt, accept the second.
|
||||
let driver = ScriptedDriver::new();
|
||||
driver.reject_next_uploads(1);
|
||||
let exec = MissionExecutor::new(MissionExecutorConfig {
|
||||
tick_interval: Duration::from_millis(5),
|
||||
..MissionExecutorConfig::fixed_wing()
|
||||
});
|
||||
let (tx, rx) = watch::channel(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
..Telemetry::default()
|
||||
});
|
||||
let (handle, join) = exec.run(driver.clone(), one_waypoint(), rx);
|
||||
|
||||
// Act
|
||||
await_state(
|
||||
&handle,
|
||||
MissionState::MissionUploaded,
|
||||
Duration::from_secs(2),
|
||||
)
|
||||
.await;
|
||||
|
||||
// Assert — driver was called twice (one rejected + one accepted),
|
||||
// retry counter for that transition is 1, FSM proceeded.
|
||||
assert_eq!(driver.upload_calls.load(Ordering::SeqCst), 2);
|
||||
let retry = handle
|
||||
.retry_count(TransitionKey::new(
|
||||
MissionState::BitOk,
|
||||
MissionState::MissionUploaded,
|
||||
))
|
||||
.await;
|
||||
// Successful advance clears the retry counter (per FSM design —
|
||||
// a fresh transition starts with a clean budget). The proof that
|
||||
// a retry happened is the double upload_calls.
|
||||
assert_eq!(retry, 0);
|
||||
assert!(matches!(
|
||||
handle.state().await,
|
||||
MissionState::WaitAuto | MissionState::MissionUploaded
|
||||
));
|
||||
|
||||
// Cleanup — drive to Done so the task exits cleanly.
|
||||
tx.send(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
flight_mode_auto: true,
|
||||
mission_reached_final: true,
|
||||
landed_disarmed: true,
|
||||
..Telemetry::default()
|
||||
})
|
||||
.unwrap();
|
||||
await_state(&handle, MissionState::Done, Duration::from_secs(2)).await;
|
||||
let _ = join.await;
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac4_cap_exhaustion_pauses_and_flips_health_red() {
|
||||
// Arrange — reject every upload attempt. With the default cap of 3
|
||||
// the FSM should pause on the 3rd failure.
|
||||
let driver = ScriptedDriver::new();
|
||||
driver.reject_next_uploads(u32::MAX);
|
||||
let exec = MissionExecutor::new(MissionExecutorConfig {
|
||||
tick_interval: Duration::from_millis(5),
|
||||
..MissionExecutorConfig::fixed_wing()
|
||||
});
|
||||
let (_tx, rx) = watch::channel(Telemetry {
|
||||
link_up: true,
|
||||
health_ok: true,
|
||||
bit_ok: true,
|
||||
..Telemetry::default()
|
||||
});
|
||||
let (handle, join) = exec.run(driver.clone(), one_waypoint(), rx);
|
||||
let mut events = handle.subscribe();
|
||||
|
||||
// Act
|
||||
await_state(&handle, MissionState::Paused, Duration::from_secs(2)).await;
|
||||
|
||||
// Assert
|
||||
assert_eq!(
|
||||
driver.upload_calls.load(Ordering::SeqCst),
|
||||
DEFAULT_RETRY_CAP,
|
||||
"driver should have been called exactly cap times"
|
||||
);
|
||||
let health = handle.health().await;
|
||||
assert_eq!(health.level, HealthLevel::Red);
|
||||
let reason = handle.paused_reason().await.expect("paused reason");
|
||||
assert!(
|
||||
reason.contains("UploadMission") || reason.contains("cap-exhausted"),
|
||||
"reason should mention the failed action: got {reason}"
|
||||
);
|
||||
|
||||
// A `→ Paused` event must have been published.
|
||||
let mut saw_pause_event = false;
|
||||
while let Ok(evt) = events.try_recv() {
|
||||
if evt.to == MissionState::Paused {
|
||||
saw_pause_event = true;
|
||||
assert_eq!(evt.variant, Variant::FixedWing);
|
||||
break;
|
||||
}
|
||||
}
|
||||
assert!(
|
||||
saw_pause_event,
|
||||
"expected a transition event with to=Paused"
|
||||
);
|
||||
|
||||
// FSM does not advance past MissionUploaded — we never reached it.
|
||||
// Task exits because the state is terminal.
|
||||
let final_state = handle.state().await;
|
||||
assert_eq!(final_state, MissionState::Paused);
|
||||
let final_outcome = StepOutcome::Paused {
|
||||
reason: reason.clone(),
|
||||
};
|
||||
assert!(matches!(final_outcome, StepOutcome::Paused { .. }));
|
||||
|
||||
let _ = join.await;
|
||||
}
|
||||
@@ -9,12 +9,23 @@ authors.workspace = true
|
||||
|
||||
[features]
|
||||
default = []
|
||||
# Real NanoLLM/VILA IPC path. With `vlm` off, `VlmClient` returns the disabled
|
||||
# no-op assessment (architecture.md §7.6 Optionality model).
|
||||
vlm = []
|
||||
# Real NanoLLM/VILA IPC path. With `vlm` off, the crate exports only
|
||||
# `PROVIDER_NAME` — there is no `VlmClient` type and no IPC code is
|
||||
# compiled. With `vlm` on, the IPC client + peer-cred check + pre-send
|
||||
# validation are pulled in (AZ-673), plus schema validation (AZ-674).
|
||||
vlm = ["dep:serde", "dep:serde_json", "dep:thiserror", "dep:base64", "dep:libc"]
|
||||
|
||||
[dependencies]
|
||||
shared = { workspace = true }
|
||||
tokio = { workspace = true }
|
||||
tracing = { workspace = true }
|
||||
async-trait = { workspace = true }
|
||||
serde = { workspace = true, optional = true }
|
||||
serde_json = { workspace = true, optional = true }
|
||||
thiserror = { workspace = true, optional = true }
|
||||
base64 = { workspace = true, optional = true }
|
||||
libc = { workspace = true, optional = true }
|
||||
|
||||
[dev-dependencies]
|
||||
tempfile = { workspace = true }
|
||||
tokio = { workspace = true, features = ["macros", "rt-multi-thread", "net", "io-util", "time", "sync"] }
|
||||
|
||||
@@ -1,54 +1,131 @@
|
||||
//! Feature-gated entry point. Compiled only when `--features vlm` is on.
|
||||
//!
|
||||
//! AZ-672 installs the trait + a placeholder constructor; the real IPC
|
||||
//! body lands in AZ-673 (`vlm_client_nanollm_ipc`). Until then `assess`
|
||||
//! returns `VlmAssessment::disabled()` so the runtime can be wired
|
||||
//! end-to-end without a working NanoLLM peer.
|
||||
//! AZ-672 installed the trait + a placeholder constructor; AZ-673
|
||||
//! replaces the placeholder with the real `NanoLlmClient` (UDS
|
||||
//! connection, peer-cred check, pre-send validation, bounded request
|
||||
//! deadline, bounded reconnect).
|
||||
//!
|
||||
//! Two construction paths are supported:
|
||||
//!
|
||||
//! - `VlmClient::new(path)` — synchronous, **lazy**. Composition-root
|
||||
//! wiring in `crates/autopilot/src/runtime.rs` uses this so the
|
||||
//! runtime can be built without requiring the NanoLLM peer to be
|
||||
//! reachable yet. The UDS connection and peer-cred check happen on
|
||||
//! the first `assess` call. A peer-cred mismatch on that first
|
||||
//! call surfaces as `VlmAssessment { status: IpcError, .. }` and
|
||||
//! subsequent calls also fail because the inner client locks.
|
||||
//!
|
||||
//! - `VlmClient::open(path)` / `VlmClient::connect(options)` —
|
||||
//! asynchronous, **eager**. Used by integration tests and by
|
||||
//! startup code that wants peer-cred mismatch to hard-fail at
|
||||
//! process boot.
|
||||
|
||||
use std::path::PathBuf;
|
||||
use std::sync::Arc;
|
||||
|
||||
use async_trait::async_trait;
|
||||
use tokio::sync::OnceCell;
|
||||
|
||||
use shared::contracts::VlmProvider;
|
||||
use shared::error::Result;
|
||||
use shared::health::ComponentHealth;
|
||||
use shared::models::vlm::VlmAssessment;
|
||||
use shared::models::vlm::{VlmAssessment, VlmLabel, VlmStatus};
|
||||
|
||||
use super::PROVIDER_NAME;
|
||||
use crate::internal::uds_client::{ConnectError, NanoLlmClient, NanoLlmClientOptions};
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
#[derive(Clone)]
|
||||
pub struct VlmClient {
|
||||
ipc_socket: String,
|
||||
options: NanoLlmClientOptions,
|
||||
inner: Arc<OnceCell<NanoLlmClient>>,
|
||||
}
|
||||
|
||||
impl VlmClient {
|
||||
/// Construct the feature-enabled client. Until AZ-673 lands, the
|
||||
/// returned instance still answers `assess` with the disabled
|
||||
/// no-op assessment — the difference vs `DisabledVlmProvider` is
|
||||
/// that this socket address has been validated and the IPC
|
||||
/// connection will be established here in AZ-673.
|
||||
pub fn new(ipc_socket: impl Into<String>) -> Self {
|
||||
/// Synchronous, lazy. The first `assess` call dials the UDS peer
|
||||
/// and performs the SO_PEERCRED check. Use this when the
|
||||
/// composition root must stay sync.
|
||||
pub fn new(socket_path: impl Into<PathBuf>) -> Self {
|
||||
Self {
|
||||
ipc_socket: ipc_socket.into(),
|
||||
options: NanoLlmClientOptions::new(socket_path),
|
||||
inner: Arc::new(OnceCell::new()),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn ipc_socket(&self) -> &str {
|
||||
&self.ipc_socket
|
||||
/// Asynchronous, eager. Opens the UDS connection and performs the
|
||||
/// peer-cred check up front. Use this when startup must hard-fail
|
||||
/// on peer-cred mismatch (AZ-673 AC-2).
|
||||
pub async fn open(socket_path: impl Into<PathBuf>) -> std::result::Result<Self, ConnectError> {
|
||||
Self::connect(NanoLlmClientOptions::new(socket_path)).await
|
||||
}
|
||||
|
||||
/// Asynchronous, eager, with full options (peer-cred expectations,
|
||||
/// timeouts, payload limits).
|
||||
pub async fn connect(options: NanoLlmClientOptions) -> std::result::Result<Self, ConnectError> {
|
||||
let inner_client = NanoLlmClient::connect(options.clone()).await?;
|
||||
let cell = OnceCell::new();
|
||||
cell.set(inner_client)
|
||||
.ok()
|
||||
.expect("freshly constructed OnceCell must be empty");
|
||||
Ok(Self {
|
||||
options,
|
||||
inner: Arc::new(cell),
|
||||
})
|
||||
}
|
||||
|
||||
pub fn ipc_socket(&self) -> &std::path::Path {
|
||||
&self.options.socket_path
|
||||
}
|
||||
|
||||
pub fn health(&self) -> ComponentHealth {
|
||||
// Until AZ-673 connects, we surface yellow with the configured
|
||||
// socket so the operator sees the build *did* enable VLM but
|
||||
// the IPC peer is not yet wired.
|
||||
ComponentHealth::yellow(PROVIDER_NAME, format!("ipc_pending: {}", self.ipc_socket))
|
||||
let connected = self.inner.initialized();
|
||||
let level = if connected {
|
||||
ComponentHealth::green(PROVIDER_NAME)
|
||||
} else {
|
||||
ComponentHealth::yellow(PROVIDER_NAME, "ipc connect deferred")
|
||||
};
|
||||
level.with_detail(format!("ipc_socket={}", self.options.socket_path.display()))
|
||||
}
|
||||
|
||||
/// Reference to the lazily-initialised inner client (`None` if no
|
||||
/// `assess` has been made yet on a `new()`-constructed instance).
|
||||
pub fn inner(&self) -> Option<&NanoLlmClient> {
|
||||
self.inner.get()
|
||||
}
|
||||
|
||||
async fn ensure_connected(&self) -> std::result::Result<&NanoLlmClient, ConnectError> {
|
||||
let options = self.options.clone();
|
||||
self.inner
|
||||
.get_or_try_init(|| async move { NanoLlmClient::connect(options).await })
|
||||
.await
|
||||
}
|
||||
}
|
||||
|
||||
trait HealthDetail {
|
||||
fn with_detail(self, detail: impl Into<String>) -> Self;
|
||||
}
|
||||
|
||||
impl HealthDetail for ComponentHealth {
|
||||
fn with_detail(mut self, detail: impl Into<String>) -> Self {
|
||||
self.detail = Some(detail.into());
|
||||
self
|
||||
}
|
||||
}
|
||||
|
||||
#[async_trait]
|
||||
impl VlmProvider for VlmClient {
|
||||
async fn assess(&self, _roi: Vec<u8>, _prompt: String) -> Result<VlmAssessment> {
|
||||
// Real IPC call lands in AZ-673. Returning disabled keeps the
|
||||
// runtime end-to-end exercisable until that task completes.
|
||||
Ok(VlmAssessment::disabled())
|
||||
async fn assess(&self, roi: Vec<u8>, prompt: String) -> Result<VlmAssessment> {
|
||||
match self.ensure_connected().await {
|
||||
Ok(c) => Ok(c.assess(roi, prompt).await),
|
||||
Err(e) => Ok(VlmAssessment {
|
||||
label: VlmLabel::Error,
|
||||
confidence: 0.0,
|
||||
evidence_spans: Vec::new(),
|
||||
reason: format!("lazy connect: {e}"),
|
||||
status: VlmStatus::IpcError,
|
||||
latency_ms: 0,
|
||||
model_version: String::new(),
|
||||
}),
|
||||
}
|
||||
}
|
||||
|
||||
fn name(&self) -> &'static str {
|
||||
@@ -59,20 +136,205 @@ impl VlmProvider for VlmClient {
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
#[cfg(target_os = "linux")]
|
||||
use crate::internal::peer_cred::ExpectedPeer;
|
||||
use crate::internal::prompt::Limits;
|
||||
use shared::models::vlm::VlmStatus;
|
||||
use tempfile::tempdir;
|
||||
use tokio::io::{AsyncReadExt, AsyncWriteExt};
|
||||
use tokio::net::UnixListener;
|
||||
|
||||
/// Spawn a tiny fixture NanoLLM that reads one request frame and
|
||||
/// writes back the supplied assessment JSON (or just hangs if
|
||||
/// `respond` is `None`).
|
||||
async fn fixture(
|
||||
path: std::path::PathBuf,
|
||||
respond: Option<serde_json::Value>,
|
||||
) -> tokio::task::JoinHandle<()> {
|
||||
let listener = UnixListener::bind(&path).unwrap();
|
||||
tokio::spawn(async move {
|
||||
let (mut s, _) = listener.accept().await.unwrap();
|
||||
let mut lenbuf = [0u8; 4];
|
||||
if s.read_exact(&mut lenbuf).await.is_err() {
|
||||
return;
|
||||
}
|
||||
let len = u32::from_be_bytes(lenbuf) as usize;
|
||||
let mut req = vec![0u8; len];
|
||||
if s.read_exact(&mut req).await.is_err() {
|
||||
return;
|
||||
}
|
||||
let Some(body) = respond else {
|
||||
std::future::pending::<()>().await;
|
||||
return;
|
||||
};
|
||||
let bytes = serde_json::to_vec(&body).unwrap();
|
||||
let len = (bytes.len() as u32).to_be_bytes();
|
||||
let _ = s.write_all(&len).await;
|
||||
let _ = s.write_all(&bytes).await;
|
||||
let _ = s.flush().await;
|
||||
})
|
||||
}
|
||||
|
||||
fn ok_response_json() -> serde_json::Value {
|
||||
serde_json::json!({
|
||||
"label": "confirmed_concealed_position",
|
||||
"confidence": 0.91,
|
||||
"evidence_spans": ["thicket", "tarp"],
|
||||
"reason": "high foliage + tarp edge",
|
||||
"status": "ok",
|
||||
"latency_ms": 42,
|
||||
"model_version": "VILA1.5-3B-int4"
|
||||
})
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn placeholder_assess_returns_disabled_until_az_673() {
|
||||
async fn ac1_happy_path_round_trip() {
|
||||
// Arrange
|
||||
let c = VlmClient::new("/run/vila/ipc.sock");
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
let fixture_handle = fixture(path.clone(), Some(ok_response_json())).await;
|
||||
let client = VlmClient::open(&path).await.expect("connect");
|
||||
|
||||
// Act
|
||||
let r = c
|
||||
.assess(Vec::new(), String::new())
|
||||
let result = client
|
||||
.assess(b"\xff\xd8\xff".to_vec(), "describe".into())
|
||||
.await
|
||||
.expect("placeholder path is infallible");
|
||||
.expect("assess returns Ok envelope");
|
||||
|
||||
// Assert
|
||||
assert_eq!(r.status, VlmStatus::Disabled);
|
||||
assert_eq!(c.name(), "vlm_client");
|
||||
assert_eq!(c.ipc_socket(), "/run/vila/ipc.sock");
|
||||
assert_eq!(result.status, VlmStatus::Ok);
|
||||
assert_eq!(result.confidence, 0.91);
|
||||
assert_eq!(result.model_version, "VILA1.5-3B-int4");
|
||||
assert_eq!(result.latency_ms, 42);
|
||||
fixture_handle.abort();
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac3_oversize_roi_rejected_pre_send() {
|
||||
// Arrange — fixture exists but should never see a request.
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
let _listener = UnixListener::bind(&path).unwrap();
|
||||
let mut opts = NanoLlmClientOptions::new(&path);
|
||||
opts.limits = Limits {
|
||||
max_roi_bytes: 4,
|
||||
max_prompt_bytes: 1024,
|
||||
};
|
||||
let client = VlmClient::connect(opts).await.expect("connect");
|
||||
|
||||
// Act
|
||||
let result = client
|
||||
.assess(vec![0u8; 5], "p".into())
|
||||
.await
|
||||
.expect("assess returns SchemaInvalid envelope, not Err");
|
||||
|
||||
// Assert
|
||||
assert_eq!(result.status, VlmStatus::SchemaInvalid);
|
||||
assert!(result.reason.contains("roi too large"));
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac4_response_timeout_returns_explicit_status() {
|
||||
// Arrange — fixture accepts the connection but never responds.
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
let fixture_handle = fixture(path.clone(), None).await;
|
||||
let mut opts = NanoLlmClientOptions::new(&path);
|
||||
opts.request_deadline = std::time::Duration::from_millis(150);
|
||||
let client = VlmClient::connect(opts).await.expect("connect");
|
||||
|
||||
// Act
|
||||
let started = std::time::Instant::now();
|
||||
let result = client
|
||||
.assess(b"r".to_vec(), "p".into())
|
||||
.await
|
||||
.expect("assess returns Timeout envelope, not Err");
|
||||
let elapsed = started.elapsed();
|
||||
|
||||
// Assert
|
||||
assert_eq!(result.status, VlmStatus::Timeout);
|
||||
assert!(
|
||||
elapsed >= std::time::Duration::from_millis(150),
|
||||
"timeout fired too early: {elapsed:?}",
|
||||
);
|
||||
assert!(
|
||||
elapsed < std::time::Duration::from_secs(1),
|
||||
"timeout overshoot: {elapsed:?}",
|
||||
);
|
||||
fixture_handle.abort();
|
||||
}
|
||||
|
||||
#[cfg(target_os = "linux")]
|
||||
#[tokio::test]
|
||||
async fn ac2_peer_cred_mismatch_hard_fails_connect() {
|
||||
// Arrange
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
let _listener = UnixListener::bind(&path).unwrap();
|
||||
let our_uid = unsafe { libc::geteuid() };
|
||||
let bogus_uid = if our_uid == 0 { 1 } else { 0 };
|
||||
let mut opts = NanoLlmClientOptions::new(&path);
|
||||
opts.expected_peer = ExpectedPeer {
|
||||
uid: Some(bogus_uid),
|
||||
gid: None,
|
||||
};
|
||||
|
||||
// Act
|
||||
let err = VlmClient::connect(opts).await.expect_err("must reject");
|
||||
|
||||
// Assert
|
||||
match err {
|
||||
ConnectError::PeerCredMismatch {
|
||||
expected_uid,
|
||||
actual_uid,
|
||||
..
|
||||
} => {
|
||||
assert_eq!(expected_uid, Some(bogus_uid));
|
||||
assert_eq!(actual_uid, our_uid);
|
||||
}
|
||||
other => panic!("expected PeerCredMismatch, got {other:?}"),
|
||||
}
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn rejects_empty_prompt_and_empty_roi() {
|
||||
// Arrange
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
let _listener = UnixListener::bind(&path).unwrap();
|
||||
let client = VlmClient::open(&path).await.unwrap();
|
||||
|
||||
// Act + Assert — empty roi.
|
||||
let r = client.assess(Vec::new(), "describe".into()).await.unwrap();
|
||||
assert_eq!(r.status, VlmStatus::SchemaInvalid);
|
||||
|
||||
// Act + Assert — empty prompt.
|
||||
let r = client.assess(vec![1u8, 2, 3], String::new()).await.unwrap();
|
||||
assert_eq!(r.status, VlmStatus::SchemaInvalid);
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn lazy_new_connects_on_first_assess() {
|
||||
// Arrange — fixture process binds the socket after the client
|
||||
// is constructed; the lazy client must succeed because connect
|
||||
// happens on demand, not at construction.
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
|
||||
// Construct the client *before* the fixture exists. With the
|
||||
// old eager constructor this would fail; with lazy it must
|
||||
// succeed.
|
||||
let client = VlmClient::new(&path);
|
||||
assert!(client.inner().is_none(), "should not be connected yet");
|
||||
|
||||
// Bring the fixture up, then call assess.
|
||||
let fixture_handle = fixture(path.clone(), Some(ok_response_json())).await;
|
||||
let result = client
|
||||
.assess(b"r".to_vec(), "p".into())
|
||||
.await
|
||||
.expect("lazy assess");
|
||||
assert_eq!(result.status, VlmStatus::Ok);
|
||||
assert!(client.inner().is_some(), "lazy connect should have run");
|
||||
fixture_handle.abort();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,6 @@
|
||||
//! Internal modules used only by the feature-gated `vlm` build.
|
||||
|
||||
pub mod peer_cred;
|
||||
pub mod prompt;
|
||||
pub mod uds_client;
|
||||
pub mod wire;
|
||||
@@ -0,0 +1,164 @@
|
||||
//! `SO_PEERCRED` peer credential check.
|
||||
//!
|
||||
//! Production target is Jetson Linux. On Linux we call `getsockopt`
|
||||
//! with `SO_PEERCRED` and compare the peer's UID/GID against the
|
||||
//! configured expected values; mismatch returns `PeerCredOutcome::Mismatch`.
|
||||
//!
|
||||
//! On macOS dev hosts there is no equivalent that returns both UID
|
||||
//! and GID through `getsockopt` (LOCAL_PEERCRED returns a `xucred`
|
||||
//! with up to NGROUPS, and `LOCAL_PEEREPID` returns only the PID).
|
||||
//! Per the task brief we log a warning and return `SkippedNonLinux`
|
||||
//! so dev workflows do not require sudo / matching service users.
|
||||
|
||||
#[cfg(target_os = "linux")]
|
||||
use std::os::unix::io::AsRawFd;
|
||||
|
||||
use tokio::net::UnixStream;
|
||||
|
||||
#[derive(Debug, Clone, PartialEq, Eq)]
|
||||
#[allow(dead_code)] // some variants only constructed on certain target_os builds
|
||||
pub enum PeerCredOutcome {
|
||||
/// Peer credentials match (or, on a non-Linux dev host, the check
|
||||
/// was skipped and the connection should proceed).
|
||||
Match { uid: u32, gid: u32 },
|
||||
/// Peer credentials read but do not match the expected values.
|
||||
/// Connect MUST fail with `ConnectError::PeerCredMismatch`.
|
||||
Mismatch {
|
||||
expected_uid: Option<u32>,
|
||||
expected_gid: Option<u32>,
|
||||
actual_uid: u32,
|
||||
actual_gid: u32,
|
||||
},
|
||||
/// Non-Linux dev host: SO_PEERCRED is not available with the same
|
||||
/// shape. The task brief explicitly allows proceeding here for
|
||||
/// development purposes.
|
||||
SkippedNonLinux,
|
||||
/// `getsockopt` itself failed (kernel rejected the call or the
|
||||
/// socket is not actually a UDS). Caller treats this as a hard
|
||||
/// failure — the connection MUST NOT proceed.
|
||||
SystemError(String),
|
||||
}
|
||||
|
||||
/// Expected peer credentials. `None` means "accept any" for that field.
|
||||
#[derive(Debug, Clone, Copy, Default)]
|
||||
pub struct ExpectedPeer {
|
||||
pub uid: Option<u32>,
|
||||
pub gid: Option<u32>,
|
||||
}
|
||||
|
||||
#[cfg(target_os = "linux")]
|
||||
pub fn check(stream: &UnixStream, expected: ExpectedPeer) -> PeerCredOutcome {
|
||||
let fd = stream.as_raw_fd();
|
||||
let mut cred: libc::ucred = unsafe { std::mem::zeroed() };
|
||||
let mut len = std::mem::size_of::<libc::ucred>() as libc::socklen_t;
|
||||
let rc = unsafe {
|
||||
libc::getsockopt(
|
||||
fd,
|
||||
libc::SOL_SOCKET,
|
||||
libc::SO_PEERCRED,
|
||||
&mut cred as *mut libc::ucred as *mut libc::c_void,
|
||||
&mut len,
|
||||
)
|
||||
};
|
||||
if rc != 0 {
|
||||
let e = std::io::Error::last_os_error();
|
||||
return PeerCredOutcome::SystemError(format!("SO_PEERCRED getsockopt: {e}"));
|
||||
}
|
||||
let actual_uid = cred.uid;
|
||||
let actual_gid = cred.gid;
|
||||
let uid_ok = expected.uid.map(|u| u == actual_uid).unwrap_or(true);
|
||||
let gid_ok = expected.gid.map(|g| g == actual_gid).unwrap_or(true);
|
||||
if uid_ok && gid_ok {
|
||||
PeerCredOutcome::Match {
|
||||
uid: actual_uid,
|
||||
gid: actual_gid,
|
||||
}
|
||||
} else {
|
||||
PeerCredOutcome::Mismatch {
|
||||
expected_uid: expected.uid,
|
||||
expected_gid: expected.gid,
|
||||
actual_uid,
|
||||
actual_gid,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(not(target_os = "linux"))]
|
||||
pub fn check(_stream: &UnixStream, _expected: ExpectedPeer) -> PeerCredOutcome {
|
||||
tracing::warn!(
|
||||
"SO_PEERCRED check skipped: non-Linux build (dev host). \
|
||||
Production deployments MUST run on Linux."
|
||||
);
|
||||
PeerCredOutcome::SkippedNonLinux
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
#[tokio::test]
|
||||
async fn peer_cred_check_on_self_socketpair() {
|
||||
// Arrange — connect to ourselves via a tempfile UDS so we know
|
||||
// the peer is the current process and its credentials are
|
||||
// available.
|
||||
let dir = tempfile::tempdir().unwrap();
|
||||
let path = dir.path().join("peer.sock");
|
||||
let listener = tokio::net::UnixListener::bind(&path).unwrap();
|
||||
let server_task = tokio::spawn(async move {
|
||||
let (s, _) = listener.accept().await.unwrap();
|
||||
s
|
||||
});
|
||||
let client = tokio::net::UnixStream::connect(&path).await.unwrap();
|
||||
let _server = server_task.await.unwrap();
|
||||
|
||||
// Act — accept any UID/GID; we just want to confirm the call
|
||||
// returns Match (Linux) or SkippedNonLinux (macOS).
|
||||
let outcome = check(&client, ExpectedPeer::default());
|
||||
|
||||
// Assert
|
||||
match outcome {
|
||||
PeerCredOutcome::Match { .. } => {}
|
||||
PeerCredOutcome::SkippedNonLinux => {}
|
||||
other => panic!("expected Match or SkippedNonLinux, got {other:?}"),
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(target_os = "linux")]
|
||||
#[tokio::test]
|
||||
async fn peer_cred_mismatch_when_uid_differs() {
|
||||
// Arrange — connect to a fixture peer and expect a UID we know
|
||||
// is wrong (use 0 == root, which the test process is not).
|
||||
let dir = tempfile::tempdir().unwrap();
|
||||
let path = dir.path().join("peer-mismatch.sock");
|
||||
let listener = tokio::net::UnixListener::bind(&path).unwrap();
|
||||
let _server = tokio::spawn(async move {
|
||||
let (s, _) = listener.accept().await.unwrap();
|
||||
s
|
||||
});
|
||||
let client = tokio::net::UnixStream::connect(&path).await.unwrap();
|
||||
|
||||
// Act — pick the *opposite* of the current uid as the expected one.
|
||||
let our_uid = unsafe { libc::geteuid() };
|
||||
let bogus_uid = if our_uid == 0 { 1 } else { 0 };
|
||||
let outcome = check(
|
||||
&client,
|
||||
ExpectedPeer {
|
||||
uid: Some(bogus_uid),
|
||||
gid: None,
|
||||
},
|
||||
);
|
||||
|
||||
// Assert
|
||||
match outcome {
|
||||
PeerCredOutcome::Mismatch {
|
||||
expected_uid,
|
||||
actual_uid,
|
||||
..
|
||||
} => {
|
||||
assert_eq!(expected_uid, Some(bogus_uid));
|
||||
assert_eq!(actual_uid, our_uid);
|
||||
}
|
||||
other => panic!("expected Mismatch, got {other:?}"),
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,112 @@
|
||||
//! Pre-send ROI + prompt validation.
|
||||
//!
|
||||
//! Per AZ-673 §Scope and `description.md §8`: payload size is
|
||||
//! validated BEFORE crossing the IPC boundary. We refuse oversize
|
||||
//! ROIs synchronously rather than waste the 5 s deadline on a
|
||||
//! request the peer will reject anyway.
|
||||
|
||||
#[derive(Debug, thiserror::Error)]
|
||||
pub enum ValidateError {
|
||||
#[error("roi too large: {size} bytes > max {max} bytes")]
|
||||
OversizeRoi { size: usize, max: usize },
|
||||
|
||||
#[error("prompt too large: {size} bytes > max {max} bytes")]
|
||||
OversizePrompt { size: usize, max: usize },
|
||||
|
||||
#[error("roi is empty")]
|
||||
EmptyRoi,
|
||||
|
||||
#[error("prompt is empty")]
|
||||
EmptyPrompt,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy)]
|
||||
pub struct Limits {
|
||||
pub max_roi_bytes: usize,
|
||||
pub max_prompt_bytes: usize,
|
||||
}
|
||||
|
||||
impl Default for Limits {
|
||||
fn default() -> Self {
|
||||
// Defaults follow `description.md §8`: bounded ROI (≤ 1 MiB
|
||||
// raw) and bounded prompt (≤ 4 KiB UTF-8).
|
||||
Self {
|
||||
max_roi_bytes: 1024 * 1024,
|
||||
max_prompt_bytes: 4 * 1024,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pub fn validate(roi: &[u8], prompt: &str, limits: Limits) -> Result<(), ValidateError> {
|
||||
if roi.is_empty() {
|
||||
return Err(ValidateError::EmptyRoi);
|
||||
}
|
||||
if prompt.is_empty() {
|
||||
return Err(ValidateError::EmptyPrompt);
|
||||
}
|
||||
if roi.len() > limits.max_roi_bytes {
|
||||
return Err(ValidateError::OversizeRoi {
|
||||
size: roi.len(),
|
||||
max: limits.max_roi_bytes,
|
||||
});
|
||||
}
|
||||
if prompt.len() > limits.max_prompt_bytes {
|
||||
return Err(ValidateError::OversizePrompt {
|
||||
size: prompt.len(),
|
||||
max: limits.max_prompt_bytes,
|
||||
});
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn accepts_payload_within_limits() {
|
||||
// Arrange / Act / Assert
|
||||
assert!(validate(b"hello", "describe", Limits::default()).is_ok());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn rejects_oversize_roi() {
|
||||
// Arrange
|
||||
let limits = Limits {
|
||||
max_roi_bytes: 4,
|
||||
max_prompt_bytes: 1024,
|
||||
};
|
||||
// Act
|
||||
let err = validate(&[0u8; 5], "p", limits).unwrap_err();
|
||||
// Assert
|
||||
assert!(matches!(
|
||||
err,
|
||||
ValidateError::OversizeRoi { size: 5, max: 4 }
|
||||
));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn rejects_oversize_prompt() {
|
||||
// Arrange
|
||||
let limits = Limits {
|
||||
max_roi_bytes: 1024,
|
||||
max_prompt_bytes: 4,
|
||||
};
|
||||
// Act
|
||||
let err = validate(b"r", "hellos", limits).unwrap_err();
|
||||
// Assert
|
||||
assert!(matches!(err, ValidateError::OversizePrompt { .. }));
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn rejects_empty_inputs() {
|
||||
assert!(matches!(
|
||||
validate(b"", "p", Limits::default()),
|
||||
Err(ValidateError::EmptyRoi)
|
||||
));
|
||||
assert!(matches!(
|
||||
validate(b"r", "", Limits::default()),
|
||||
Err(ValidateError::EmptyPrompt)
|
||||
));
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,320 @@
|
||||
//! Tokio-based UDS client for NanoLLM.
|
||||
//!
|
||||
//! State invariants:
|
||||
//!
|
||||
//! - At most one request in flight at a time. The caller serialises
|
||||
//! through a `tokio::sync::Mutex` around the connection.
|
||||
//! - On transport loss, the client reconnects up to `reconnect_max`
|
||||
//! times with exponential backoff.
|
||||
//! - On `PeerCredMismatch`, the client refuses to reconnect — peer
|
||||
//! credential failures are treated as security incidents that
|
||||
//! require operator intervention (AZ-673 AC-2).
|
||||
//! - Every `assess` call is bounded by `request_deadline`. A timeout
|
||||
//! produces a `VlmAssessment { status: Timeout, .. }` and the
|
||||
//! socket is dropped + reconnected so a slow response can't poison
|
||||
//! the next request.
|
||||
|
||||
use std::path::{Path, PathBuf};
|
||||
use std::sync::Arc;
|
||||
use std::time::Duration;
|
||||
|
||||
use shared::models::vlm::{VlmAssessment, VlmLabel, VlmStatus};
|
||||
use tokio::net::UnixStream;
|
||||
use tokio::sync::Mutex;
|
||||
use tokio::time::timeout;
|
||||
|
||||
use super::peer_cred::{check as check_peer, ExpectedPeer, PeerCredOutcome};
|
||||
use super::prompt::{self, Limits};
|
||||
use super::wire::{read_response, write_request, WireError};
|
||||
|
||||
/// Errors returned from `connect`.
|
||||
#[derive(Debug, thiserror::Error)]
|
||||
pub enum ConnectError {
|
||||
/// Socket file could not be opened (no such file, permission, etc.).
|
||||
#[error("uds connect: {0}")]
|
||||
Io(#[from] std::io::Error),
|
||||
|
||||
/// `SO_PEERCRED` returned credentials that did not match the
|
||||
/// configured expected uid/gid. No automatic retry — operator
|
||||
/// intervention required.
|
||||
#[error("peer credential mismatch: expected_uid={expected_uid:?} expected_gid={expected_gid:?} actual_uid={actual_uid} actual_gid={actual_gid}")]
|
||||
PeerCredMismatch {
|
||||
expected_uid: Option<u32>,
|
||||
expected_gid: Option<u32>,
|
||||
actual_uid: u32,
|
||||
actual_gid: u32,
|
||||
},
|
||||
|
||||
/// `getsockopt` itself failed — usually a kernel-level rejection.
|
||||
/// Treated as a hard failure (no retry).
|
||||
#[error("peer credential system error: {0}")]
|
||||
PeerCredSystemError(String),
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone)]
|
||||
pub struct NanoLlmClientOptions {
|
||||
pub socket_path: PathBuf,
|
||||
pub expected_peer: ExpectedPeer,
|
||||
pub request_deadline: Duration,
|
||||
pub reconnect_max: u32,
|
||||
pub reconnect_base: Duration,
|
||||
pub reconnect_cap: Duration,
|
||||
pub limits: Limits,
|
||||
}
|
||||
|
||||
impl NanoLlmClientOptions {
|
||||
pub fn new(socket_path: impl Into<PathBuf>) -> Self {
|
||||
Self {
|
||||
socket_path: socket_path.into(),
|
||||
expected_peer: ExpectedPeer::default(),
|
||||
// Per `description.md §8` 5 s ceiling.
|
||||
request_deadline: Duration::from_secs(5),
|
||||
reconnect_max: 3,
|
||||
reconnect_base: Duration::from_millis(100),
|
||||
reconnect_cap: Duration::from_secs(2),
|
||||
limits: Limits::default(),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Long-lived NanoLLM UDS client. Cloneable handle (the inner state
|
||||
/// is an `Arc<Mutex<...>>`); a single backing connection is shared.
|
||||
#[derive(Clone)]
|
||||
pub struct NanoLlmClient {
|
||||
inner: Arc<Mutex<Inner>>,
|
||||
options: Arc<NanoLlmClientOptions>,
|
||||
}
|
||||
|
||||
struct Inner {
|
||||
/// `None` between `disconnect_locked` and the next reconnect, or
|
||||
/// when the connection has never been opened.
|
||||
stream: Option<UnixStream>,
|
||||
/// Set when `PeerCredMismatch` was observed. Hard-stops every
|
||||
/// subsequent `assess`/connect attempt until the operator
|
||||
/// rebuilds the client (i.e., restarts the process).
|
||||
peer_cred_locked: bool,
|
||||
/// Diagnostic counter for health surfaces.
|
||||
peer_cred_check_pass: u64,
|
||||
peer_cred_check_total: u64,
|
||||
/// Latency samples for `p50` / `p99` surfaces. Kept ring-buffer
|
||||
/// style to bound memory.
|
||||
latency_samples: Vec<Duration>,
|
||||
}
|
||||
|
||||
const LATENCY_RING_CAPACITY: usize = 128;
|
||||
|
||||
impl NanoLlmClient {
|
||||
/// Open the UDS connection and verify the peer's credentials.
|
||||
/// Caller-side mutex is initialised here.
|
||||
pub async fn connect(options: NanoLlmClientOptions) -> Result<Self, ConnectError> {
|
||||
let stream = open_and_check(&options.socket_path, options.expected_peer).await?;
|
||||
let inner = Inner {
|
||||
stream: Some(stream),
|
||||
peer_cred_locked: false,
|
||||
peer_cred_check_pass: 1,
|
||||
peer_cred_check_total: 1,
|
||||
latency_samples: Vec::with_capacity(LATENCY_RING_CAPACITY),
|
||||
};
|
||||
Ok(Self {
|
||||
inner: Arc::new(Mutex::new(inner)),
|
||||
options: Arc::new(options),
|
||||
})
|
||||
}
|
||||
|
||||
pub fn socket_path(&self) -> &Path {
|
||||
&self.options.socket_path
|
||||
}
|
||||
|
||||
/// Latency samples snapshot (cloned). Caller computes p50/p99.
|
||||
pub async fn latency_samples(&self) -> Vec<Duration> {
|
||||
self.inner.lock().await.latency_samples.clone()
|
||||
}
|
||||
|
||||
/// `(passed, total)` peer-cred check counts since process start.
|
||||
pub async fn peer_cred_stats(&self) -> (u64, u64) {
|
||||
let g = self.inner.lock().await;
|
||||
(g.peer_cred_check_pass, g.peer_cred_check_total)
|
||||
}
|
||||
|
||||
/// True if a peer-cred mismatch ever occurred. Diagnostic only —
|
||||
/// every public method already short-circuits on the lock.
|
||||
pub async fn peer_cred_locked(&self) -> bool {
|
||||
self.inner.lock().await.peer_cred_locked
|
||||
}
|
||||
|
||||
/// Send a single ROI + prompt and await one assessment. Failure
|
||||
/// modes (validate / timeout / IPC error) are encoded in the
|
||||
/// returned `VlmAssessment.status` — `assess` never returns an
|
||||
/// `Err` for these recoverable cases. Hard failures (peer-cred
|
||||
/// lock, exhausted reconnect budget) DO propagate as
|
||||
/// `VlmStatus::IpcError` with `label: Error`.
|
||||
pub async fn assess(&self, roi: Vec<u8>, prompt: String) -> VlmAssessment {
|
||||
// Pre-send validation — never spend IPC time on a known-bad
|
||||
// payload (AZ-673 AC-3).
|
||||
if let Err(e) = prompt::validate(&roi, &prompt, self.options.limits) {
|
||||
return schema_invalid(format!("pre-send validate: {e}"));
|
||||
}
|
||||
|
||||
// Hard-locked by peer-cred mismatch — refuse without IPC.
|
||||
if self.inner.lock().await.peer_cred_locked {
|
||||
return ipc_error("peer-cred mismatch lock active");
|
||||
}
|
||||
|
||||
let started = std::time::Instant::now();
|
||||
let mut guard = self.inner.lock().await;
|
||||
|
||||
// Lazy reconnect if the previous request dropped the stream.
|
||||
if guard.stream.is_none() {
|
||||
match reconnect_locked(&mut guard, &self.options).await {
|
||||
Ok(()) => {}
|
||||
Err(e) => return e,
|
||||
}
|
||||
}
|
||||
|
||||
// Single shot. On any IO error we drop the stream so the next
|
||||
// call reconnects fresh.
|
||||
let stream = guard
|
||||
.stream
|
||||
.as_mut()
|
||||
.expect("stream present after reconnect");
|
||||
match timeout(
|
||||
self.options.request_deadline,
|
||||
send_and_recv(stream, &prompt, &roi),
|
||||
)
|
||||
.await
|
||||
{
|
||||
Ok(Ok(mut assessment)) => {
|
||||
let elapsed = started.elapsed();
|
||||
push_latency(&mut guard.latency_samples, elapsed);
|
||||
if assessment.latency_ms == 0 {
|
||||
assessment.latency_ms = elapsed.as_millis().min(u32::MAX as u128) as u32;
|
||||
}
|
||||
assessment
|
||||
}
|
||||
Ok(Err(e)) => {
|
||||
tracing::warn!(error = %e, "vlm_client uds io error; dropping connection");
|
||||
guard.stream = None;
|
||||
ipc_error(format!("ipc io: {e}"))
|
||||
}
|
||||
Err(_elapsed) => {
|
||||
tracing::warn!(
|
||||
deadline_ms = self.options.request_deadline.as_millis() as u64,
|
||||
"vlm_client assess timeout"
|
||||
);
|
||||
// Drop the stream — a half-responded peer might still
|
||||
// write bytes on the next call and corrupt the frame.
|
||||
guard.stream = None;
|
||||
timeout_status(self.options.request_deadline)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
async fn open_and_check(path: &Path, expected: ExpectedPeer) -> Result<UnixStream, ConnectError> {
|
||||
let stream = UnixStream::connect(path).await?;
|
||||
match check_peer(&stream, expected) {
|
||||
PeerCredOutcome::Match { uid, gid } => {
|
||||
tracing::info!(uid, gid, "vlm_client uds peer credential check passed");
|
||||
Ok(stream)
|
||||
}
|
||||
PeerCredOutcome::SkippedNonLinux => Ok(stream),
|
||||
PeerCredOutcome::Mismatch {
|
||||
expected_uid,
|
||||
expected_gid,
|
||||
actual_uid,
|
||||
actual_gid,
|
||||
} => Err(ConnectError::PeerCredMismatch {
|
||||
expected_uid,
|
||||
expected_gid,
|
||||
actual_uid,
|
||||
actual_gid,
|
||||
}),
|
||||
PeerCredOutcome::SystemError(s) => Err(ConnectError::PeerCredSystemError(s)),
|
||||
}
|
||||
}
|
||||
|
||||
async fn reconnect_locked(
|
||||
guard: &mut Inner,
|
||||
options: &NanoLlmClientOptions,
|
||||
) -> Result<(), VlmAssessment> {
|
||||
let mut delay = options.reconnect_base;
|
||||
for attempt in 1..=options.reconnect_max {
|
||||
match open_and_check(&options.socket_path, options.expected_peer).await {
|
||||
Ok(s) => {
|
||||
guard.stream = Some(s);
|
||||
guard.peer_cred_check_pass = guard.peer_cred_check_pass.saturating_add(1);
|
||||
guard.peer_cred_check_total = guard.peer_cred_check_total.saturating_add(1);
|
||||
return Ok(());
|
||||
}
|
||||
Err(ConnectError::PeerCredMismatch { .. }) => {
|
||||
guard.peer_cred_locked = true;
|
||||
guard.peer_cred_check_total = guard.peer_cred_check_total.saturating_add(1);
|
||||
return Err(ipc_error("peer-cred mismatch on reconnect"));
|
||||
}
|
||||
Err(e) => {
|
||||
tracing::warn!(
|
||||
error = %e,
|
||||
attempt,
|
||||
max = options.reconnect_max,
|
||||
"vlm_client reconnect failed; backing off"
|
||||
);
|
||||
tokio::time::sleep(delay).await;
|
||||
delay = (delay * 2).min(options.reconnect_cap);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(ipc_error("reconnect budget exhausted"))
|
||||
}
|
||||
|
||||
async fn send_and_recv(
|
||||
stream: &mut UnixStream,
|
||||
prompt: &str,
|
||||
roi: &[u8],
|
||||
) -> Result<VlmAssessment, WireError> {
|
||||
write_request(stream, prompt, roi).await?;
|
||||
let resp = read_response(stream).await?;
|
||||
Ok(resp)
|
||||
}
|
||||
|
||||
fn push_latency(samples: &mut Vec<Duration>, d: Duration) {
|
||||
if samples.len() == LATENCY_RING_CAPACITY {
|
||||
samples.remove(0);
|
||||
}
|
||||
samples.push(d);
|
||||
}
|
||||
|
||||
fn schema_invalid(reason: impl Into<String>) -> VlmAssessment {
|
||||
VlmAssessment {
|
||||
label: VlmLabel::Inconclusive,
|
||||
confidence: 0.0,
|
||||
evidence_spans: Vec::new(),
|
||||
reason: reason.into(),
|
||||
status: VlmStatus::SchemaInvalid,
|
||||
latency_ms: 0,
|
||||
model_version: String::new(),
|
||||
}
|
||||
}
|
||||
|
||||
fn ipc_error(reason: impl Into<String>) -> VlmAssessment {
|
||||
VlmAssessment {
|
||||
label: VlmLabel::Error,
|
||||
confidence: 0.0,
|
||||
evidence_spans: Vec::new(),
|
||||
reason: reason.into(),
|
||||
status: VlmStatus::IpcError,
|
||||
latency_ms: 0,
|
||||
model_version: String::new(),
|
||||
}
|
||||
}
|
||||
|
||||
fn timeout_status(deadline: Duration) -> VlmAssessment {
|
||||
VlmAssessment {
|
||||
label: VlmLabel::Inconclusive,
|
||||
confidence: 0.0,
|
||||
evidence_spans: Vec::new(),
|
||||
reason: format!("ipc deadline {} ms elapsed", deadline.as_millis()),
|
||||
status: VlmStatus::Timeout,
|
||||
latency_ms: deadline.as_millis().min(u32::MAX as u128) as u32,
|
||||
model_version: String::new(),
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,156 @@
|
||||
//! Wire framing for NanoLLM UDS IPC.
|
||||
//!
|
||||
//! Single request → single response, length-prefixed JSON:
|
||||
//!
|
||||
//! ```text
|
||||
//! uint32 BE length || JSON payload
|
||||
//! ```
|
||||
//!
|
||||
//! The request payload is `{"prompt": "...", "roi_b64": "..."}`. The
|
||||
//! response payload is a `shared::models::vlm::VlmAssessment` JSON
|
||||
//! object — the same shape `VlmProvider::assess` returns. AZ-674 will
|
||||
//! add schema-version validation on top of this; AZ-673 leaves the
|
||||
//! body un-validated beyond `serde_json::from_slice`.
|
||||
|
||||
use base64::Engine;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use shared::models::vlm::VlmAssessment;
|
||||
use tokio::io::{AsyncRead, AsyncReadExt, AsyncWrite, AsyncWriteExt};
|
||||
|
||||
/// Hard maximum on any single inbound frame. Defends against a peer
|
||||
/// (or a corrupted peer) declaring an arbitrarily large length.
|
||||
pub const MAX_FRAME_BYTES: u32 = 8 * 1024 * 1024;
|
||||
|
||||
#[derive(Debug, Serialize, Deserialize)]
|
||||
pub struct AssessRequest {
|
||||
pub prompt: String,
|
||||
/// Base64-encoded ROI bytes. Kept inline in the JSON envelope so
|
||||
/// the wire is one read/write per direction.
|
||||
pub roi_b64: String,
|
||||
}
|
||||
|
||||
#[derive(Debug, thiserror::Error)]
|
||||
pub enum WireError {
|
||||
#[error("io: {0}")]
|
||||
Io(#[from] std::io::Error),
|
||||
|
||||
#[error("frame too large: {0} bytes (max {MAX_FRAME_BYTES})")]
|
||||
FrameTooLarge(u32),
|
||||
|
||||
#[error("json: {0}")]
|
||||
Json(#[from] serde_json::Error),
|
||||
|
||||
#[error("unexpected eof while reading frame body")]
|
||||
UnexpectedEof,
|
||||
}
|
||||
|
||||
pub async fn write_request<W: AsyncWrite + Unpin>(
|
||||
w: &mut W,
|
||||
prompt: &str,
|
||||
roi: &[u8],
|
||||
) -> Result<(), WireError> {
|
||||
let req = AssessRequest {
|
||||
prompt: prompt.to_string(),
|
||||
roi_b64: base64::engine::general_purpose::STANDARD.encode(roi),
|
||||
};
|
||||
let body = serde_json::to_vec(&req)?;
|
||||
let len = body.len() as u32;
|
||||
if len > MAX_FRAME_BYTES {
|
||||
return Err(WireError::FrameTooLarge(len));
|
||||
}
|
||||
w.write_all(&len.to_be_bytes()).await?;
|
||||
w.write_all(&body).await?;
|
||||
w.flush().await?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub async fn read_response<R: AsyncRead + Unpin>(r: &mut R) -> Result<VlmAssessment, WireError> {
|
||||
let mut lenbuf = [0u8; 4];
|
||||
r.read_exact(&mut lenbuf).await?;
|
||||
let len = u32::from_be_bytes(lenbuf);
|
||||
if len > MAX_FRAME_BYTES {
|
||||
return Err(WireError::FrameTooLarge(len));
|
||||
}
|
||||
let mut body = vec![0u8; len as usize];
|
||||
let n = r.read_exact(&mut body).await?;
|
||||
if n != body.len() {
|
||||
return Err(WireError::UnexpectedEof);
|
||||
}
|
||||
let assessment: VlmAssessment = serde_json::from_slice(&body)?;
|
||||
Ok(assessment)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
use shared::models::vlm::{VlmLabel, VlmStatus};
|
||||
use tokio::io::duplex;
|
||||
|
||||
#[tokio::test]
|
||||
async fn round_trip_request_and_response() {
|
||||
// Arrange
|
||||
let (mut a, mut b) = duplex(64 * 1024);
|
||||
let prompt = "describe";
|
||||
let roi = b"\xff\xd8\xff\xe0\x00\x10JFIF".to_vec();
|
||||
|
||||
// Act — client side writes the request, fixture side reads it
|
||||
// and writes back a canned response.
|
||||
let fixture = tokio::spawn(async move {
|
||||
// Read request frame.
|
||||
let mut lenbuf = [0u8; 4];
|
||||
b.read_exact(&mut lenbuf).await.unwrap();
|
||||
let len = u32::from_be_bytes(lenbuf) as usize;
|
||||
let mut req_buf = vec![0u8; len];
|
||||
b.read_exact(&mut req_buf).await.unwrap();
|
||||
let req: AssessRequest = serde_json::from_slice(&req_buf).unwrap();
|
||||
assert_eq!(req.prompt, "describe");
|
||||
assert_eq!(
|
||||
base64::engine::general_purpose::STANDARD
|
||||
.decode(req.roi_b64)
|
||||
.unwrap()
|
||||
.as_slice(),
|
||||
b"\xff\xd8\xff\xe0\x00\x10JFIF"
|
||||
);
|
||||
|
||||
// Write canned response.
|
||||
let response = VlmAssessment {
|
||||
label: VlmLabel::ConfirmedConcealedPosition,
|
||||
confidence: 0.91,
|
||||
evidence_spans: vec!["foliage".into()],
|
||||
reason: "match".into(),
|
||||
status: VlmStatus::Ok,
|
||||
latency_ms: 12,
|
||||
model_version: "VILA1.5-3B-int4".into(),
|
||||
};
|
||||
let body = serde_json::to_vec(&response).unwrap();
|
||||
let len = body.len() as u32;
|
||||
b.write_all(&len.to_be_bytes()).await.unwrap();
|
||||
b.write_all(&body).await.unwrap();
|
||||
b.flush().await.unwrap();
|
||||
});
|
||||
|
||||
write_request(&mut a, prompt, &roi).await.unwrap();
|
||||
let resp = read_response(&mut a).await.unwrap();
|
||||
fixture.await.unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(resp.status, VlmStatus::Ok);
|
||||
assert_eq!(resp.label, VlmLabel::ConfirmedConcealedPosition);
|
||||
assert_eq!(resp.model_version, "VILA1.5-3B-int4");
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn rejects_oversized_inbound_frame() {
|
||||
// Arrange
|
||||
let (mut a, mut b) = duplex(64);
|
||||
let huge = MAX_FRAME_BYTES + 1;
|
||||
b.write_all(&huge.to_be_bytes()).await.unwrap();
|
||||
b.flush().await.unwrap();
|
||||
|
||||
// Act
|
||||
let err = read_response(&mut a).await.unwrap_err();
|
||||
|
||||
// Assert
|
||||
assert!(matches!(err, WireError::FrameTooLarge(n) if n == huge));
|
||||
}
|
||||
}
|
||||
@@ -6,17 +6,26 @@
|
||||
//! never references `vlm_client::VlmClient`.
|
||||
//!
|
||||
//! With the `vlm` feature **on**, `VlmClient` is the real NanoLLM IPC
|
||||
//! client. The IPC plumbing itself lands in:
|
||||
//! - AZ-673 `vlm_client_nanollm_ipc`
|
||||
//! - AZ-674 `vlm_client_schema_and_model_version`
|
||||
//!
|
||||
//! AZ-672 only wires the trait contract + feature flag.
|
||||
//! client:
|
||||
//! - AZ-672 wired the trait contract + feature flag.
|
||||
//! - AZ-673 (this revision) added the UDS connection, SO_PEERCRED
|
||||
//! check, pre-send validation, bounded request deadline, bounded
|
||||
//! reconnect.
|
||||
//! - AZ-674 will add `VlmAssessment` schema-version validation on top.
|
||||
|
||||
#[cfg(feature = "vlm")]
|
||||
mod enabled;
|
||||
#[cfg(feature = "vlm")]
|
||||
mod internal;
|
||||
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use enabled::VlmClient;
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use internal::peer_cred::ExpectedPeer;
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use internal::prompt::Limits;
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use internal::uds_client::{ConnectError, NanoLlmClient, NanoLlmClientOptions};
|
||||
|
||||
/// Stable name used by tracing + `/health` to identify this crate's
|
||||
/// build-time configuration. Mirrors `VlmProvider::name()`.
|
||||
|
||||
Reference in New Issue
Block a user