azaion/autopilot
1
0
Fork 0
mirror of https://github.com/azaion/autopilot.git synced 2026-06-21 11:31:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

[AZ-626] Decompose complete: 47 tasks + docs + module layout

Browse Source 
Greenfield Steps 1-6 baseline for the autopilot rewrite from legacy
Qt/C++ to a Rust workspace.

- Remove legacy Qt/C++ tree (ai_controller, drone_controller,
  misc/camera, python_scaffold, root Dockerfile, autopilot.pro,
  legacy main.py / requirements.txt).
- Add _docs/00_problem (problem, restrictions, acceptance criteria,
  security approach, input data + fixtures).
- Add _docs/01_solution/solution_draft01.
- Add _docs/02_document (architecture, system-flows, data_model,
  glossary, decision-rationale, deployment, 13 component descriptions,
  tests/ specs, FINAL_report, module-layout).
- Add _docs/02_tasks/todo with 47 task specs (AZ-640..AZ-686, one
  bootstrap + 46 component tasks) and _dependencies_table.md.
- Add .cursor/rules/artifact-srp.mdc (single-responsibility rule for
  canonical _docs artifacts).
- Track autodev state in _docs/_autodev_state.md (Step 6 completed,
  ready for Step 7 Implement).

Jira: bootstrap AZ-626; component epics AZ-627..AZ-639; tasks
AZ-640..AZ-686. Total complexity 173 points across 12 epics.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-19 11:02:01 +03:00
parent f7d6cb4a3a
commit bc40ea7300
235 changed files with 12585 additions and 15097 deletions
Download Patch File Download Diff File Expand all files Collapse all files
_docs/02_document/deployment/ci_cd_pipeline.md
+90
View File
@@ -0,0 +1,90 @@
# CI / CD Pipeline
**Status**: forward-looking design (Rust). Final pipeline file lands during build-system bring-up. The shape below describes the intent.
## 1. Goals
The pipeline must:
- Build the autopilot Rust binary cross-compiled for `aarch64-unknown-linux-gnu`.
- Run the full Rust test suite (unit + integration + replay-based) on every commit.
- Run a hardware-in-loop conformance gate against an ArduPilot SITL instance (covers `mavlink_layer` + `mission_executor`).
- Run a benchmark gate on representative target hardware (covers Tier 1 / Tier 2 / VLM / gimbal latency budgets — see `architecture.md §7.6 Benchmark gate`).
- Sign and publish artefacts (binary + container image) on tagged releases.
- Never auto-deploy to the airframe. Deployment is a human-driven operation tied to the suite's flight-gate convention (`/run/azaion/in-flight`).
## 2. Pipeline stages
Single Woodpecker pipeline, multi-stage. Stages run sequentially; a failed stage stops the run.
| Stage | Purpose | Notes |
|---|---|---|
| **fetch** | Clone, restore Cargo cache | `cargo fetch` with a remote cache key. |
| **lint** | `cargo fmt --check`, `cargo clippy --all-targets --all-features -- -D warnings` | Hard fail on any warning. |
| **unit-test** | `cargo test --workspace` (host-arch) | Most logic is platform-independent; runs in parallel on host. |
| **build-arm64** | Cross-compile for `aarch64-unknown-linux-gnu` | `cross` or `cargo zigbuild` depending on Rust toolchain. Produces the production binary + a debug symbol artefact. |
| **integration-test** | Replay-based integration tests under emulation | Fixtures: pre-recorded RTSP clip, MAVLink replay, synthetic telemetry. No hardware required. |
| **sitl-conformance** | ArduPilot SITL conformance gate | Spins up ArduPilot SITL + autopilot binary in a container; runs a fixed mission script; asserts MAVLink command surface (per `architecture.md §7.7`) and geofence enforcement. |
| **benchmark-gate** *(opt-in, manual / nightly)* | Tier 1 / 2 / VLM / gimbal latency on real Jetson | Runs on a self-hosted Jetson Orin Nano runner. Asserts `architecture.md §6 NFR` budgets. Slow; not on every PR. |
| **package** | Build container image (Option B from `containerization.md`) | Multi-arch tag: `azaion/autopilot:<branch>-arm64`. |
| **sign** | Sign binary + image | Cosign for the image; OS-vendor signing flow for the binary if used in native deployment. |
| **publish** | Push image + binary to internal registry | Tagged builds only. |
## 3. Artefacts
| Artefact | Where | Retention |
|---|---|---|
| `autopilot` binary (aarch64) | internal artefact store | last 10 builds per branch; tagged builds kept indefinitely |
| Debug symbols (`.dwp`) | internal artefact store, separate path | matched to binary lifetime |
| Container image | internal Docker registry | last 10 dev builds; tagged builds kept indefinitely |
| Cosign signature | next to image | matched to image lifetime |
| Test logs | CI run | per Woodpecker retention |
| Benchmark gate report | internal artefact store (Markdown + JSON) | per-tag retention |
## 4. Build matrix
Single matrix entry today:
| Toolchain | Target | Tier-1 dep | VLM feature |
|---|---|---|---|
| Rust stable | `aarch64-unknown-linux-gnu` | `../detections` (Cython service consumed via gRPC; not built here) | `cargo --features vlm` (also `cargo` without — both must build) |
The `--features vlm` and the no-feature path are both built and tested to enforce the optionality contract from `architecture.md §7.6 Local VLM confirmation`.
## 5. SITL conformance gate (in detail)
Stage runs in CI; produces a pass/fail signal that gates merge to `dev`.
**Setup:**
1. Start ArduPilot SITL in a container, listening on `udp://0.0.0.0:14550`.
2. Start autopilot binary configured for SITL endpoint.
3. Pre-load a fixture mission via the missions API mock (`mission_client` HTTP target).
4. Pre-load a fixture RTSP source (looped clip).
5. Mock the `../detections` service with deterministic detections.
**Assertions:**
- All MAVLink message kinds in `architecture.md §7.7` succeed at least once.
- Mission upload + start completes within the configured retry budget.
- INCLUSION geofence violation triggers RTL.
- EXCLUSION geofence violation triggers RTL (regression gate against the earlier silent-ignore behaviour).
- Middle-waypoint POST + re-upload succeeds within ≤2 s.
- Health endpoint returns `green` once steady state is reached.
## 6. Branch policy
| Branch | Triggers | Required gates |
|---|---|---|
| feature branches (PR) | on push | fetch → lint → unit-test → build-arm64 → integration-test → sitl-conformance |
| `dev` | on merge | all PR gates + package |
| tagged release (`v*`) | on tag | all `dev` gates + sign + publish + benchmark-gate (manual approval) |
`main` and `dev` are protected. Force-push is forbidden. Merges require a green pipeline.
## 7. Out of scope here
- Airframe deployment automation (manual; tied to flight-gate).
- Ground Station and `../detections` pipelines (each owns its own).
- AI training pipeline — `../_docs/12_ai_training.md`.
- Model-sync to the airframe (`model-sync.service`, suite-level — `../_docs/00_top_level_architecture.md`).