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[AZ-649] [AZ-674] [AZ-667] telemetry + vlm schema + mapobjects hydrate batch 6
AZ-649 mission_executor telemetry forwarding: - shared::models::telemetry::UavTelemetry canonical model - TelemetryForwarder with atomic ArcSwap snapshot + 3 lossy tokio::sync::broadcast channels (MissionExecutor, ScanController, MavlinkUplink) + per-consumer drop counters - MavlinkProjection::from_mavlink for HEARTBEAT/GLOBAL_POSITION_INT/ ATTITUDE/SYS_STATUS - spawn_mavlink_pump bridges mavlink_layer into the forwarder at the binary edge AZ-674 vlm_client schema validation + model_version tracking: - AssessmentParser owns schema validation + model-version state - wire::read_response_raw splits raw bytes from parsing so invalid payloads can be logged size-capped - VlmStatus gains an Inconclusive variant; exhaustive-match test guards downstream consumers - VlmPipelineStatus mirrors the new variant in shared::models::poi AZ-667 mapobjects_store hydrate + pending logs + cascade: - SyncState enum aligned with description.md (FreshBoot, Synced, CachedFallback, Degraded, Failed) - Store::hydrate(MapObjectsBundle) replaces in-memory map atomically; freshness=Stale -> CachedFallback - classify() + end_of_pass append MapObjectObservation events to pending_observations (New/Moved/Existing/RemovedCandidate) - apply_decline + LocalAppended ignored items append to pending_ignored - drain_pending() returns and clears both logs - cascade_mission(id) purges by_cell + IgnoredSet + pending logs - Health surface reports sync_state, pending_obs, pending_ign Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -0,0 +1,106 @@
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# Batch Report
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**Batch**: 6
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**Tasks**: AZ-649 `mission_executor_telemetry_forwarding`, AZ-674 `vlm_client_schema_and_model_version`, AZ-667 `mapobjects_store_hydrate_and_pending`
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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 (5 + 3 + 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-649 | Done | `crates/mission_executor/Cargo.toml`, `crates/mission_executor/src/{lib,internal/mod,internal/telemetry}.rs`, `crates/shared/src/models/{mod,telemetry}.rs` | pass (3 unit + 3 AC integration) | 3/3 verified locally | 0 blocking |
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| AZ-674 | Done | `crates/vlm_client/Cargo.toml`, `crates/vlm_client/src/{lib,enabled}.rs`, `crates/vlm_client/src/internal/{mod,parser,uds_client,wire}.rs`, `crates/shared/src/models/{vlm,poi}.rs` | pass (4 parser unit + 5 integration: AC-1..AC-4 + 1 invariant) | 4/4 verified locally | 0 blocking |
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| AZ-667 | Done | `crates/mapobjects_store/src/{lib,internal/store,internal/ignored}.rs`, integration test `crates/mapobjects_store/tests/hydrate_and_pending.rs`, in-place updates to existing tests for the `ClassifyInput` extension | pass (8 integration: 5 ACs + 3 supplementary) | 5/5 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-649 | AC-1 | Canonical `UavTelemetry` projection from inbound MAVLink updates the atomic snapshot | YES | `tests/telemetry_forwarding::ac1_atomic_snapshot_reflects_latest_mavlink` |
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| AZ-649 | AC-2 | Three consumer broadcast channels (mission_executor, scan_controller, mavlink_uplink) each receive the canonical record | YES | `tests/telemetry_forwarding::ac2_three_consumers_receive_canonical_record` |
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| AZ-649 | AC-3 | Slow consumer drops surface via `drop_count(consumer)` and DO NOT block the producer | YES | `tests/telemetry_forwarding::ac3_slow_consumer_drops_are_counted_and_non_blocking` |
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| AZ-674 | AC-1 | Valid response parses successfully, all schema fields preserved end-to-end | YES | `tests/parser::ac1_valid_response_parses_successfully` |
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| AZ-674 | AC-2 | Schema-invalid response returns `status: SchemaInvalid` + schema-invalid counter increments + raw bytes logged size-capped | YES | `tests/parser::ac2_schema_invalid_response_returns_schema_invalid_and_increments_counter` |
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| AZ-674 | AC-3 | `model_version` change logged once; identical subsequent versions do NOT re-log | YES | `tests/parser::ac3_model_version_change_logged_once_at_parser_level` (parser-level; the UDS integration path is exercised by AC-1) |
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| AZ-674 | AC-4 | `VlmStatus` enum is exhaustive at compile time — adding a variant breaks every consumer until updated | YES | `tests/parser::ac4_vlm_status_match_is_exhaustive` (no `_` arm; one `Inconclusive` variant added per Frozen Architectural Question §3 follow-up) |
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| AZ-667 | AC-1 | `hydrate(bundle)` loads N + M entries; `sync_state = Synced` | YES | `tests/hydrate_and_pending::ac1_hydrate_loads_bundle_and_sets_synced` |
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| AZ-667 | AC-2 | `freshness = Stale` bundle → `sync_state = CachedFallback` | YES | `tests/hydrate_and_pending::ac2_stale_bundle_sets_cached_fallback` |
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| AZ-667 | AC-3 | Classify (New / Moved / Existing / RemovedCandidate) appends `MapObjectObservation` to pending log; operator decline appends to `pending_ignored` | YES | `tests/hydrate_and_pending::{ac3_classify_appends_pending_observation, ac3b_local_decline_appends_to_pending_ignored, end_of_pass_appends_removed_candidate_to_pending}` |
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| AZ-667 | AC-4 | `drain_pending()` returns and clears both pending logs | YES | `tests/hydrate_and_pending::ac4_drain_pending_clears_counts` |
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| AZ-667 | AC-5 | Mission cascade drops mission-scoped objects + ignored entries; other missions untouched | YES | `tests/hydrate_and_pending::ac5_cascade_mission_drops_only_matching_objects` |
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**Coverage: 12/12 ACs verified locally** (3 AZ-649, 4 AZ-674, 5 AZ-667).
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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 2–5 precedent).
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**Phase 1 — Spec coverage**:
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- AZ-649: Canonical `UavTelemetry` model in `shared::models::telemetry` (position, attitude, mode, sys_status, monotonic + wallclock timestamps); `TelemetryForwarder` owns the atomic snapshot (`ArcSwap<UavTelemetry>`) and three lossy `tokio::sync::broadcast` channels keyed by `Consumer` enum (`MissionExecutor`, `ScanController`, `MavlinkUplink`); `MavlinkProjection::from_mavlink` converts the four canonical MAVLink messages (HEARTBEAT, GLOBAL_POSITION_INT, ATTITUDE, SYS_STATUS) into the canonical record; `DropCountingReceiver` counts lagged broadcast frames per consumer. `mission_executor::spawn_mavlink_pump` wires it to `mavlink_layer`. ✓
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- AZ-674: `AssessmentParser` owns the schema-validation + model-version-tracking concerns. Parse pipeline: raw bytes → `serde_json` → `VlmAssessmentWire` (typed shape) → `VlmAssessment` (canonical). Schema-invalid responses are downgraded to `VlmAssessment{status: SchemaInvalid, reason: "json: ..."}` and the raw response is `tracing::warn!`-logged size-capped to `DEFAULT_LOG_TRUNCATION_BYTES`. `model_version` differences flip an atomic `model_version_changes` counter and emit a single `tracing::info!`. `VlmStatus` gains an `Inconclusive` variant and is referenced via an exhaustive match in the AC-4 test (no `_` arm). ✓
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- AZ-667: `Store::hydrate(MapObjectsBundle)` clears the in-memory map and re-populates `by_cell` from `bundle.map_objects` + `ignored` from `bundle.ignored_items`; `freshness = Stale` → `sync_state = CachedFallback`, otherwise `Synced`. Every NEW / MOVED / EXISTING classification appends a `MapObjectObservation` (DiffKind = New/Moved/Existing) to `pending_observations`. `end_of_pass` mirrors each `RemovedCandidate` into pending with `DiffKind::RemovedCandidate`. Local operator decline appends to `pending_ignored` (central-pulled `IgnoredItem`s do not — they're already in central). `drain_pending` returns and clears both logs. `cascade_mission(id)` purges every `by_cell` bucket, every `IgnoredItem`, and every pending log row whose `mission_id` matches. Health surface now reports `sync_state`, `pending_obs`, `pending_ign`, plus the previous `indexed`/`ignored`/`open_passes`. ✓
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**Phase 2 — Architecture compliance**:
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- `mission_executor` adds no new external dependencies — `arc-swap`, `tokio::sync::broadcast`, and `tokio::sync::watch` are already in the workspace. Wiring to `mavlink_layer` happens at the binary edge (`spawn_mavlink_pump`) so the FSM core remains transport-agnostic. The canonical `UavTelemetry` lives in `shared::models::telemetry` (not in `mission_executor`) so any downstream consumer can depend on the model without depending on the broadcast plumbing.
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- `vlm_client` keeps the feature-gated optionality model from AZ-672/673. New module `internal::parser` is `cfg(feature = "vlm")`-gated implicitly through the module hierarchy. The `read_response_raw` split in `wire.rs` lets the parser see the raw bytes for size-capped logging without the wire layer making assumptions about schema. The schema-invalid log path uses `tracing::warn!` (not `error!` — schema-invalid is operator-recoverable, not a system fault).
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- `mapobjects_store` extends `ClassifyInput` with two new fields (`uav_id: String`, `observed_at_monotonic_ns: u64`). Existing callers inside the crate were updated in-place; no out-of-crate callers exist yet (scan_controller wiring lands later). The new public surface (`hydrate`, `drain_pending`, `cascade_mission`, `set_sync_state`, `sync_state`, `pending_*_count`, `last_pull_ts`, `last_push_ts`, `mark_pushed_ok`) maps 1:1 to `_docs/02_document/components/mapobjects_store/description.md §3`.
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- **Doc drift** (note for next `monorepo-document` run, not a blocker):
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- `_docs/02_document/components/mapobjects_store/description.md §3.sync_state` references `fresh_boot → synced | cached_fallback | degraded` — the implemented `SyncState` enum adds an explicit `Failed` terminal state (per `description.md §7` "bounded-retries-exhausted") and surfaces `FreshBoot` as the initial state, so the diagram needs one explicit `Failed` arrow and the `FreshBoot` label.
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- `shared::models::vlm::VlmStatus` gains an `Inconclusive` variant; the canonical `data_model.md` table for `VlmAssessment.status` should be refreshed to list it.
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**Phase 3 — Code quality**:
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- SRP holds: `telemetry::TelemetryForwarder` owns the broadcast surface ONLY; `MavlinkProjection::from_mavlink` owns the wire→canonical conversion ONLY; `AssessmentParser` owns schema validation + model-version tracking ONLY; `Store::hydrate` owns hydration ONLY (it does not touch pending logs); the pending append paths sit inside `classify` and `end_of_pass` precisely because that's where the diff-kind decision is made.
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- No silent error suppression. `Store::hydrate` propagates `cell_of` errors back to the caller; `MavlinkProjection::from_mavlink` returns `None` (deliberately, not silently — sys_status fields are optional in the projection contract); `AssessmentParser::parse` always returns a `VlmAssessment` (never an `Err`) so the caller doesn't have to choose between propagation and downgrade.
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- All tests follow `Arrange / Act / Assert` per `coderule.mdc`.
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- `cargo fmt --all -- --check` ✓ (after format pass).
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- `cargo clippy --workspace --all-features --all-targets` ✓ on all crates we touched. One pre-existing dead-code warning on `autopilot::runtime::vlm_provider_name` is unchanged from batch 5 and lives outside the scope of this batch.
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**Phase 4 — Runtime completeness (per task brief)**:
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- AZ-649 "real broadcast fan-out + real atomic snapshot + real drop counters" — `Arc<UavTelemetry>` swapped via `ArcSwap`; `tokio::sync::broadcast::channel(capacity)` per consumer; `RecvError::Lagged(n)` increments `AtomicU64` drop counter and the receiver continues. No mock plumbing. ✓
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- AZ-674 "real JSON validation + real model-version tracking + real exhaustive enum" — `serde_json::from_slice::<VlmAssessmentWire>` is the schema gate; `Mutex<Option<String>>` holds the last observed `model_version`; the AC-4 test contains a `match` with no `_` arm. Adding a variant to `VlmStatus` would break the build. ✓
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- AZ-667 "real hydrate + real pending logs + real cascade" — `Store::by_cell` is rebuilt from the bundle; `pending_observations: Vec<MapObjectObservation>` and `pending_ignored: Vec<IgnoredItem>` are real `Vec` append-only logs (drained by `mem::take`); `cascade_mission` does an actual `retain` pass over every shard. No "later" placeholders. ✓
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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-674 AC-3 (model-version change tracking) is verified at the parser level, not through a multi-round-trip UDS fixture. Rationale: the parser is a pure-state component; routing the test through three reconnects of the single-shot UDS fixture would test fixture timing, not the AC. The UDS integration path is exercised by AC-1 (one happy-path round trip → parser sees one change event), which is the integration shape `scan_controller` will actually use.
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- AZ-667 ACs exercise the public `MapObjectsStoreHandle` surface (the same surface `scan_controller` and `mission_client` use), not internal `Store` methods.
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## Quality Gates
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- `cargo fmt --all` ✓ (one round of auto-format applied; no semantic edits)
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- `cargo clippy --workspace --all-features --all-targets -- -D warnings` returns 1 pre-existing warning (`autopilot::runtime::vlm_provider_name`, unchanged from batch 5). All warnings introduced by this batch are resolved.
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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 clippy -p mission_executor --tests -- -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 AZ-648 AC integration + 3 AZ-649 AC integration)
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- `cargo test -p vlm_client --features vlm` ✓ (15 unit + 5 parser integration; Linux-only AC-2 from AZ-673 still skipped on macOS dev host)
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- `cargo test -p mapobjects_store` ✓ (17 unit + 7 + 5 + 8 = 37 integration across AZ-665, AZ-666, AZ-667)
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## Auto-Fix Attempts
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2 rounds:
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1. First clippy/build pass surfaced the AZ-674 parser tests racing the single-shot UDS fixture. Resolved by lifting AC-3 and the schema-invalid-doesn't-pollute test to the parser layer (the AC is about the parser's state machine, not the UDS round-trip). `AssessmentParser` was added to the public surface so the tests can construct one directly.
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2. Second clippy pass surfaced a `match`-as-`matches!` lint in `parser::track_model_version` and one `unused_imports` lint in `wire.rs` after `read_response` became test-only. Both fixed and re-clippy clean.
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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-668 `mapobjects_store_persistence` (deps AZ-664, AZ-665, AZ-667 — AZ-664 still pending)
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- AZ-664 `mapobjects_store_persistence_layer` (deps AZ-665 — now in `done/`)
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- AZ-685 `scan_controller_detection_inbox` (deps AZ-640, AZ-684 — both in `done/`)
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- AZ-651 `mission_executor_failsafes` (deps AZ-648 — now in `done/`)
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- AZ-650 `mission_executor_mavlink_driver` (deps AZ-648, AZ-649 — now both in `done/`)
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The actual selection for batch 7 will be made by the next `/implement` invocation per the topological rule.
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@@ -6,9 +6,9 @@ step: 7
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name: Implement
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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: "batch 5 complete (AZ-666, AZ-673, AZ-648); committed and archived; next: batch 6 selection"
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phase: 6
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name: batch-6-complete-awaiting-jira-and-commit
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detail: "batch 6 done (AZ-649, AZ-674, AZ-667); transitioning Jira to In Testing and committing"
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retry_count: 0
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cycle: 1
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tracker: jira
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@@ -69,6 +69,20 @@ impl IgnoredSet {
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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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/// Drop every `IgnoredItem` whose `mission_id` matches the
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/// supplied id. Used by the `DELETE /missions/{id}` cascade
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/// (AZ-667 AC-5). The keyset is rebuilt from the surviving items
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/// because a single `(mgrs, class_group)` pair may still appear
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/// under a different mission.
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pub fn drop_by_mission(&mut self, mission_id: &str) {
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self.items.retain(|_, v| v.mission_id != mission_id);
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self.keys.clear();
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for item in self.items.values() {
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self.keys
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.insert((item.mgrs.clone(), item.class_group.clone()));
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}
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}
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}
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#[cfg(test)]
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@@ -15,13 +15,40 @@ use std::collections::HashMap;
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use chrono::{DateTime, Utc};
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use h3o::CellIndex;
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use shared::error::Result;
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use shared::models::mapobject::IgnoredItem;
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use shared::models::mapobject::{
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BundleFreshness, DiffKind, IgnoredItem, IgnoredItemSource, MapObject, MapObjectObservation,
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MapObjectsBundle,
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};
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use uuid::Uuid;
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use super::h3_index::{cell_of, grid_disk, haversine_m, DEFAULT_K_RING, DEFAULT_RESOLUTION};
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use super::ignored::IgnoredSet;
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use super::passes::{bbox_contains, PassTracker, RegionBbox};
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/// Sync state machine surfaced to `scan_controller` + health aggregator.
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///
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/// See `_docs/02_document/components/mapobjects_store/description.md §3`.
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/// `Failed` is the bounded-retries-exhausted terminal state for the
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/// post-flight push (Frozen choice 7 / `description.md §7`).
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#[derive(Debug, Clone, Copy, PartialEq, Eq)]
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pub enum SyncState {
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/// Initial state at process boot; no hydrate has run yet.
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FreshBoot,
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/// Last pull / push succeeded against the central API.
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Synced,
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/// Last pull failed but the on-device cache was applied as a
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/// fallback. `scan_controller` MUST gate this on operator
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/// acknowledgement before takeoff.
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CachedFallback,
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/// Stale cache or transient push failure; new MapObject diff
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/// classifications are suppressed by `scan_controller`.
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Degraded,
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/// Bounded retries exhausted (post-flight push). Operator-visible
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/// warning; mission's central data integrity at risk until
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/// manually replayed.
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Failed,
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}
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/// Per-detection input to `classify`. This bundles the georeferenced
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/// payload the architecture-level "detection" carries (gps, class, conf,
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/// size — see `system-flows.md §F7`) without forcing the shared
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@@ -38,6 +65,18 @@ pub struct ClassifyInput {
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pub confidence: f32,
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pub mission_id: String,
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pub observed_at: DateTime<Utc>,
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/// Airframe identifier the detection originated from. Threaded into
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/// `MapObjectObservation::uav_id` for the post-flight push log
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/// (AZ-667). Empty string is acceptable for single-UAV deployments
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/// and unit tests; production callers (`scan_controller`) supply
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/// the configured UAV id.
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#[doc(alias = "uav")]
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pub uav_id: String,
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/// Monotonic clock reading at detection time. Threaded into
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/// `MapObjectObservation::observed_at_monotonic_ns` so observation
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/// ordering survives wallclock skew. `0` is acceptable when the
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/// caller has no monotonic source (e.g. unit tests).
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pub observed_at_monotonic_ns: u64,
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}
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/// Configuration for the spatial-index + classification policy.
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@@ -139,6 +178,17 @@ pub struct Store {
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len: usize,
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ignored: IgnoredSet,
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passes: PassTracker,
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/// Append-only log of NEW / MOVED / EXISTING / REMOVED-CANDIDATE
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/// events for the post-flight push (AZ-667). Drained by
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/// `mission_client::push_mapobjects_diff` after landing — central
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/// writes mid-flight are forbidden (Frozen choice 6).
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pending_observations: Vec<MapObjectObservation>,
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/// Append-only log of locally-appended `IgnoredItem`s for the
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/// post-flight push (AZ-667).
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pending_ignored: Vec<IgnoredItem>,
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sync_state: SyncState,
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last_pull_ts: Option<DateTime<Utc>>,
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last_push_ts: Option<DateTime<Utc>>,
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}
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impl Store {
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@@ -149,6 +199,11 @@ impl Store {
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len: 0,
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ignored: IgnoredSet::new(),
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passes: PassTracker::new(),
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pending_observations: Vec::new(),
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pending_ignored: Vec::new(),
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sync_state: SyncState::FreshBoot,
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last_pull_ts: None,
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last_push_ts: None,
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}
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}
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@@ -168,8 +223,13 @@ impl Store {
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}
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/// Append an `IgnoredItem` (operator declined a POI, or a hydrate
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/// from `mission_client` pulled it down).
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/// from `mission_client` pulled it down). When the item is
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/// `LocalAppended` it ALSO joins `pending_ignored` so the
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/// post-flight push surfaces it to central.
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pub fn append_ignored(&mut self, item: IgnoredItem) {
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if matches!(item.source, IgnoredItemSource::LocalAppended) {
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self.pending_ignored.push(item.clone());
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}
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self.ignored.append(item);
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}
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@@ -188,6 +248,10 @@ impl Store {
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/// Close the pass over `bbox` and return objects in the region that
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/// were not observed since the pass started, excluding ignored
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||||
/// objects. Returns an empty vec if no pass was open.
|
||||
///
|
||||
/// Each returned `RemovedCandidate` is also appended to the
|
||||
/// `pending_observations` log as a `DiffKind::RemovedCandidate`
|
||||
/// event so the post-flight push surfaces it to central.
|
||||
pub fn end_of_pass(&mut self, bbox: &RegionBbox) -> Vec<RemovedCandidate> {
|
||||
let Some(result) = self.passes.pass_end(bbox) else {
|
||||
return Vec::new();
|
||||
@@ -222,13 +286,173 @@ impl Store {
|
||||
});
|
||||
}
|
||||
}
|
||||
// Mirror each removed candidate into the pending observation
|
||||
// log; lookup of the stored object's mission_id keeps the
|
||||
// observation traceable end-to-end.
|
||||
let ended_at = Utc::now();
|
||||
for r in &out {
|
||||
let mission_id = self.find_mission_id(r.id).unwrap_or_default();
|
||||
self.pending_observations.push(MapObjectObservation {
|
||||
id: r.id,
|
||||
h3_cell: u64::from(
|
||||
cell_of(r.gps_lat, r.gps_lon, self.config.h3_resolution)
|
||||
.expect("H3 cell lookup must succeed for stored coordinates"),
|
||||
),
|
||||
class: r.class.clone(),
|
||||
class_group: r.class_group.clone(),
|
||||
mission_id,
|
||||
uav_id: String::new(),
|
||||
observed_at_monotonic_ns: 0,
|
||||
observed_at_wallclock: ended_at,
|
||||
gps_lat: r.gps_lat,
|
||||
gps_lon: r.gps_lon,
|
||||
mgrs: r.mgrs.clone(),
|
||||
size_width_m: 0.0,
|
||||
size_length_m: 0.0,
|
||||
confidence: 0.0,
|
||||
diff_kind: DiffKind::RemovedCandidate,
|
||||
photo_ref: None,
|
||||
raw_evidence: None,
|
||||
});
|
||||
}
|
||||
out
|
||||
}
|
||||
|
||||
fn find_mission_id(&self, id: Uuid) -> Option<String> {
|
||||
self.by_cell.values().flatten().find_map(|o| {
|
||||
if o.id == id {
|
||||
Some(o.mission_id.clone())
|
||||
} else {
|
||||
None
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
pub fn open_passes(&self) -> usize {
|
||||
self.passes.open_passes()
|
||||
}
|
||||
|
||||
/// Number of unpushed local observations.
|
||||
pub fn pending_observations_count(&self) -> usize {
|
||||
self.pending_observations.len()
|
||||
}
|
||||
|
||||
/// Number of unpushed locally-declined items.
|
||||
pub fn pending_ignored_count(&self) -> usize {
|
||||
self.pending_ignored.len()
|
||||
}
|
||||
|
||||
pub fn sync_state(&self) -> SyncState {
|
||||
self.sync_state
|
||||
}
|
||||
|
||||
pub fn last_pull_ts(&self) -> Option<DateTime<Utc>> {
|
||||
self.last_pull_ts
|
||||
}
|
||||
|
||||
pub fn last_push_ts(&self) -> Option<DateTime<Utc>> {
|
||||
self.last_push_ts
|
||||
}
|
||||
|
||||
pub fn set_sync_state(&mut self, state: SyncState) {
|
||||
self.sync_state = state;
|
||||
}
|
||||
|
||||
/// Load the in-memory map from a central-pulled bundle. Replaces
|
||||
/// any existing entries (the bundle is authoritative). The
|
||||
/// sync_state moves to `Synced` for a fresh bundle or
|
||||
/// `CachedFallback` for a `Stale` one. `last_pull_ts` is set to
|
||||
/// `bundle.as_of`.
|
||||
pub fn hydrate(&mut self, bundle: MapObjectsBundle) -> Result<()> {
|
||||
self.by_cell.clear();
|
||||
self.len = 0;
|
||||
// Replace the IgnoredSet entirely — central is authoritative.
|
||||
self.ignored = IgnoredSet::new();
|
||||
let MapObjectsBundle {
|
||||
map_objects,
|
||||
ignored_items,
|
||||
as_of,
|
||||
freshness,
|
||||
..
|
||||
} = bundle;
|
||||
|
||||
for mo in map_objects {
|
||||
self.insert_hydrated(mo)?;
|
||||
}
|
||||
for item in ignored_items {
|
||||
self.ignored.append(item);
|
||||
}
|
||||
|
||||
self.sync_state = match freshness {
|
||||
Some(BundleFreshness::Stale) => SyncState::CachedFallback,
|
||||
_ => SyncState::Synced,
|
||||
};
|
||||
self.last_pull_ts = Some(as_of);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn insert_hydrated(&mut self, mo: MapObject) -> Result<()> {
|
||||
let cell = cell_of(mo.gps_lat, mo.gps_lon, self.config.h3_resolution)?;
|
||||
self.by_cell.entry(cell).or_default().push(StoredMapObject {
|
||||
id: Uuid::new_v4(),
|
||||
h3_cell: cell,
|
||||
mgrs: mo.mgrs_key,
|
||||
class: mo.class,
|
||||
class_group: mo.class_group,
|
||||
gps_lat: mo.gps_lat,
|
||||
gps_lon: mo.gps_lon,
|
||||
size_width_m: mo.size_width_m,
|
||||
size_length_m: mo.size_length_m,
|
||||
confidence: mo.confidence,
|
||||
first_seen: mo.first_seen,
|
||||
last_seen: mo.last_seen,
|
||||
mission_id: mo.mission_id,
|
||||
});
|
||||
self.len += 1;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Drain and return all pending observations + ignored items. The
|
||||
/// store's pending counts return to 0. Called by
|
||||
/// `mission_client::push_mapobjects_diff` post-flight.
|
||||
pub fn drain_pending(&mut self) -> (Vec<MapObjectObservation>, Vec<IgnoredItem>) {
|
||||
(
|
||||
std::mem::take(&mut self.pending_observations),
|
||||
std::mem::take(&mut self.pending_ignored),
|
||||
)
|
||||
}
|
||||
|
||||
/// Cascade-delete every object, ignored entry, and pending log
|
||||
/// row whose `mission_id` matches. Mirrors the central
|
||||
/// `DELETE /missions/{id}` semantics.
|
||||
pub fn cascade_mission(&mut self, mission_id: &str) {
|
||||
let mut empty_cells = Vec::new();
|
||||
let mut removed = 0usize;
|
||||
for (cell, bucket) in self.by_cell.iter_mut() {
|
||||
let before = bucket.len();
|
||||
bucket.retain(|o| o.mission_id != mission_id);
|
||||
removed += before - bucket.len();
|
||||
if bucket.is_empty() {
|
||||
empty_cells.push(*cell);
|
||||
}
|
||||
}
|
||||
for c in empty_cells {
|
||||
self.by_cell.remove(&c);
|
||||
}
|
||||
self.len = self.len.saturating_sub(removed);
|
||||
self.ignored.drop_by_mission(mission_id);
|
||||
self.pending_observations
|
||||
.retain(|o| o.mission_id != mission_id);
|
||||
self.pending_ignored.retain(|i| i.mission_id != mission_id);
|
||||
}
|
||||
|
||||
/// Mark a post-flight push as acknowledged. Resets sync_state to
|
||||
/// `Synced` and records the push timestamp.
|
||||
pub fn mark_pushed_ok(&mut self) {
|
||||
self.sync_state = SyncState::Synced;
|
||||
self.last_push_ts = Some(Utc::now());
|
||||
}
|
||||
|
||||
/// Resolve a raw class string to its canonical group key.
|
||||
///
|
||||
/// The first class listed in a `similar_classes` group is the group
|
||||
@@ -282,7 +506,7 @@ impl Store {
|
||||
}
|
||||
}
|
||||
|
||||
match best {
|
||||
let classification = match best {
|
||||
Some((cell, idx, delta_m)) if delta_m >= self.config.move_threshold_m => {
|
||||
// MOVED — update stored position to the new observation.
|
||||
let bucket = self
|
||||
@@ -292,6 +516,8 @@ impl Store {
|
||||
let obj = &mut bucket[idx];
|
||||
let from_mgrs = obj.mgrs.clone();
|
||||
let id = obj.id;
|
||||
let class_group = obj.class_group.clone();
|
||||
let class = obj.class.clone();
|
||||
obj.gps_lat = input.gps_lat;
|
||||
obj.gps_lon = input.gps_lon;
|
||||
obj.mgrs = input.mgrs.clone();
|
||||
@@ -313,11 +539,19 @@ impl Store {
|
||||
});
|
||||
}
|
||||
self.passes.note_observed(id, input.gps_lat, input.gps_lon);
|
||||
Ok(Classification::Moved {
|
||||
self.append_observation(
|
||||
id,
|
||||
query_cell,
|
||||
&class,
|
||||
&class_group,
|
||||
&input,
|
||||
DiffKind::Moved,
|
||||
);
|
||||
Classification::Moved {
|
||||
id,
|
||||
from_mgrs,
|
||||
to_mgrs: input.mgrs,
|
||||
})
|
||||
to_mgrs: input.mgrs.clone(),
|
||||
}
|
||||
}
|
||||
Some((cell, idx, _)) => {
|
||||
// EXISTING — just refresh last_seen.
|
||||
@@ -328,8 +562,11 @@ impl Store {
|
||||
let obj = &mut bucket[idx];
|
||||
obj.last_seen = input.observed_at;
|
||||
let id = obj.id;
|
||||
let class_group = obj.class_group.clone();
|
||||
let class = obj.class.clone();
|
||||
self.passes.note_observed(id, input.gps_lat, input.gps_lon);
|
||||
Ok(Classification::Existing { id })
|
||||
self.append_observation(id, cell, &class, &class_group, &input, DiffKind::Existing);
|
||||
Classification::Existing { id }
|
||||
}
|
||||
None => {
|
||||
// NEW — insert.
|
||||
@@ -339,7 +576,7 @@ impl Store {
|
||||
h3_cell: query_cell,
|
||||
mgrs: input.mgrs.clone(),
|
||||
class: input.class.clone(),
|
||||
class_group: group,
|
||||
class_group: group.clone(),
|
||||
gps_lat: input.gps_lat,
|
||||
gps_lon: input.gps_lon,
|
||||
size_width_m: input.size_width_m,
|
||||
@@ -352,9 +589,52 @@ 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 })
|
||||
self.append_observation(
|
||||
id,
|
||||
query_cell,
|
||||
&input.class,
|
||||
&group,
|
||||
&input,
|
||||
DiffKind::New,
|
||||
);
|
||||
Classification::New { id }
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
Ok(classification)
|
||||
}
|
||||
|
||||
/// Build and append a `MapObjectObservation` to the post-flight
|
||||
/// push log. Called on every NEW / MOVED / EXISTING classification
|
||||
/// (the REMOVED-CANDIDATE variant is appended by `end_of_pass`).
|
||||
fn append_observation(
|
||||
&mut self,
|
||||
id: Uuid,
|
||||
cell: CellIndex,
|
||||
class: &str,
|
||||
class_group: &str,
|
||||
input: &ClassifyInput,
|
||||
diff_kind: DiffKind,
|
||||
) {
|
||||
self.pending_observations.push(MapObjectObservation {
|
||||
id,
|
||||
h3_cell: u64::from(cell),
|
||||
class: class.to_string(),
|
||||
class_group: class_group.to_string(),
|
||||
mission_id: input.mission_id.clone(),
|
||||
uav_id: input.uav_id.clone(),
|
||||
observed_at_monotonic_ns: input.observed_at_monotonic_ns,
|
||||
observed_at_wallclock: input.observed_at,
|
||||
gps_lat: input.gps_lat,
|
||||
gps_lon: input.gps_lon,
|
||||
mgrs: input.mgrs.clone(),
|
||||
size_width_m: input.size_width_m,
|
||||
size_length_m: input.size_length_m,
|
||||
confidence: input.confidence,
|
||||
diff_kind,
|
||||
photo_ref: None,
|
||||
raw_evidence: None,
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
@@ -373,6 +653,8 @@ mod tests {
|
||||
confidence: 0.9,
|
||||
mission_id: "m1".into(),
|
||||
observed_at: Utc::now(),
|
||||
uav_id: "uav1".into(),
|
||||
observed_at_monotonic_ns: 0,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -15,34 +15,24 @@
|
||||
|
||||
use std::sync::{Arc, Mutex};
|
||||
|
||||
use chrono::Utc;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use chrono::{DateTime, Utc};
|
||||
use uuid::Uuid;
|
||||
|
||||
use shared::error::{AutopilotError, Result};
|
||||
use shared::health::ComponentHealth;
|
||||
use shared::models::mapobject::{IgnoredItem, IgnoredItemSource, MapObjectsBundle, RetentionScope};
|
||||
use shared::models::mapobject::{
|
||||
IgnoredItem, IgnoredItemSource, MapObjectObservation, MapObjectsBundle, RetentionScope,
|
||||
};
|
||||
use shared::models::poi::Poi;
|
||||
|
||||
mod internal;
|
||||
|
||||
pub use internal::passes::RegionBbox;
|
||||
pub use internal::store::{Classification, ClassifyInput, MapObjectsStoreConfig, RemovedCandidate};
|
||||
|
||||
const NAME: &str = "mapobjects_store";
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
|
||||
#[serde(rename_all = "snake_case")]
|
||||
pub enum SyncState {
|
||||
/// Bundle pulled centrally and applied.
|
||||
Hydrated,
|
||||
/// Local-observed records exist but have not been pushed.
|
||||
Pending,
|
||||
/// Push acknowledged centrally.
|
||||
PushedOk,
|
||||
/// Push failed; will retry from `pending_pushes/`.
|
||||
PushDeferred,
|
||||
}
|
||||
pub use internal::passes::RegionBbox;
|
||||
pub use internal::store::{
|
||||
Classification, ClassifyInput, MapObjectsStoreConfig, RemovedCandidate, SyncState,
|
||||
};
|
||||
|
||||
/// Owns the in-memory map. Construct once at the composition root and
|
||||
/// share via the cloneable `MapObjectsStoreHandle`.
|
||||
@@ -176,32 +166,122 @@ impl MapObjectsStoreHandle {
|
||||
Ok(guard.end_of_pass(bbox))
|
||||
}
|
||||
|
||||
pub async fn dump_pending(&self) -> Result<MapObjectsBundle> {
|
||||
Err(AutopilotError::NotImplemented(
|
||||
"mapobjects_store::dump_pending (AZ-667)",
|
||||
))
|
||||
/// Load the in-memory map from a central-pulled bundle. Replaces
|
||||
/// any existing entries — central is authoritative on hydrate.
|
||||
/// Sets `sync_state` to `Synced` for a fresh bundle or
|
||||
/// `CachedFallback` for one tagged `Stale`. See AZ-667 AC-1 / AC-2.
|
||||
pub fn hydrate(&self, bundle: MapObjectsBundle) -> Result<()> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
guard.hydrate(bundle)
|
||||
}
|
||||
|
||||
pub async fn hydrate(&self, _bundle: MapObjectsBundle) -> Result<()> {
|
||||
Err(AutopilotError::NotImplemented(
|
||||
"mapobjects_store::hydrate (AZ-667)",
|
||||
))
|
||||
/// Drain the pending observation + ignored append logs for the
|
||||
/// post-flight push. Counts return to zero. See AZ-667 AC-4.
|
||||
pub fn drain_pending(&self) -> Result<(Vec<MapObjectObservation>, Vec<IgnoredItem>)> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.drain_pending())
|
||||
}
|
||||
|
||||
pub async fn set_sync_state(&self, _state: SyncState) -> Result<()> {
|
||||
Err(AutopilotError::NotImplemented(
|
||||
"mapobjects_store::set_sync_state (AZ-667)",
|
||||
))
|
||||
/// Drop every record (indexed object, ignored entry, pending log
|
||||
/// row) whose `mission_id` matches the supplied id. Mirrors the
|
||||
/// central `DELETE /missions/{id}` cascade. See AZ-667 AC-5.
|
||||
pub fn cascade_mission(&self, mission_id: &str) -> Result<()> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
guard.cascade_mission(mission_id);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn set_sync_state(&self, state: SyncState) -> Result<()> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
guard.set_sync_state(state);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn sync_state(&self) -> Result<SyncState> {
|
||||
let guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.sync_state())
|
||||
}
|
||||
|
||||
pub fn pending_observations_count(&self) -> Result<usize> {
|
||||
let guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.pending_observations_count())
|
||||
}
|
||||
|
||||
pub fn pending_ignored_count(&self) -> Result<usize> {
|
||||
let guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.pending_ignored_count())
|
||||
}
|
||||
|
||||
pub fn last_pull_ts(&self) -> Result<Option<DateTime<Utc>>> {
|
||||
let guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.last_pull_ts())
|
||||
}
|
||||
|
||||
pub fn last_push_ts(&self) -> Result<Option<DateTime<Utc>>> {
|
||||
let guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
Ok(guard.last_push_ts())
|
||||
}
|
||||
|
||||
/// Record a successful post-flight push: sets sync_state to
|
||||
/// `Synced` and stores the wallclock as `last_push_ts`.
|
||||
pub fn mark_pushed_ok(&self) -> Result<()> {
|
||||
let mut guard = self
|
||||
.inner
|
||||
.lock()
|
||||
.map_err(|_| AutopilotError::Internal("mapobjects_store mutex poisoned".into()))?;
|
||||
guard.mark_pushed_ok();
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub fn health(&self) -> ComponentHealth {
|
||||
match self.inner.lock() {
|
||||
Ok(guard) => ComponentHealth::green(NAME).with_detail(format!(
|
||||
"indexed_objects={} ignored={} open_passes={}",
|
||||
guard.len(),
|
||||
guard.ignored_len(),
|
||||
guard.open_passes(),
|
||||
)),
|
||||
Ok(guard) => {
|
||||
let level = match guard.sync_state() {
|
||||
SyncState::Degraded | SyncState::Failed => {
|
||||
ComponentHealth::red(NAME, "sync state degraded")
|
||||
}
|
||||
SyncState::CachedFallback => {
|
||||
ComponentHealth::yellow(NAME, "operating on cached fallback")
|
||||
}
|
||||
SyncState::FreshBoot | SyncState::Synced => ComponentHealth::green(NAME),
|
||||
};
|
||||
level.with_detail(format!(
|
||||
"sync={:?} indexed={} ignored={} open_passes={} pending_obs={} pending_ign={}",
|
||||
guard.sync_state(),
|
||||
guard.len(),
|
||||
guard.ignored_len(),
|
||||
guard.open_passes(),
|
||||
guard.pending_observations_count(),
|
||||
guard.pending_ignored_count(),
|
||||
))
|
||||
}
|
||||
Err(_) => ComponentHealth::red(NAME, "mutex poisoned"),
|
||||
}
|
||||
}
|
||||
@@ -234,6 +314,8 @@ mod tests {
|
||||
confidence: 0.9,
|
||||
mission_id: "m1".into(),
|
||||
observed_at: Utc::now(),
|
||||
uav_id: "uav1".into(),
|
||||
observed_at_monotonic_ns: 0,
|
||||
}
|
||||
}
|
||||
|
||||
@@ -270,8 +352,9 @@ mod tests {
|
||||
// Assert
|
||||
assert_eq!(health.level, shared::health::HealthLevel::Green);
|
||||
let detail = health.detail.as_deref().unwrap();
|
||||
assert!(detail.contains("indexed_objects=1"));
|
||||
assert!(detail.contains("indexed=1"));
|
||||
assert!(detail.contains("ignored=0"));
|
||||
assert!(detail.contains("open_passes=0"));
|
||||
assert!(detail.contains("pending_obs=1"));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -31,6 +31,8 @@ fn input(lat: f64, lon: f64, class: &str) -> ClassifyInput {
|
||||
confidence: 0.9,
|
||||
mission_id: "m-az665".into(),
|
||||
observed_at: Utc::now(),
|
||||
uav_id: "uav-az665".into(),
|
||||
observed_at_monotonic_ns: 0,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,360 @@
|
||||
//! AZ-667 acceptance tests — pre-flight hydrate, sync_state machine,
|
||||
//! pending observation/ignored append logs, mission cascade.
|
||||
|
||||
use chrono::Utc;
|
||||
use mapobjects_store::{ClassifyInput, MapObjectsStore, MapObjectsStoreConfig, SyncState};
|
||||
use shared::models::mapobject::{
|
||||
BundleFreshness, IgnoredItem, IgnoredItemSource, MapObject, MapObjectSource, MapObjectsBundle,
|
||||
RetentionScope,
|
||||
};
|
||||
use shared::models::mission::Coordinate;
|
||||
use uuid::Uuid;
|
||||
|
||||
const ANCHOR_LAT: f64 = 50.450_000;
|
||||
const ANCHOR_LON: f64 = 30.520_000;
|
||||
|
||||
fn input(lat: f64, lon: f64, class: &str, mission_id: &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: mission_id.into(),
|
||||
observed_at: Utc::now(),
|
||||
uav_id: "uav-az667".into(),
|
||||
observed_at_monotonic_ns: 1_234_567_890,
|
||||
}
|
||||
}
|
||||
|
||||
fn map_object(lat: f64, lon: f64, class: &str, mission_id: &str) -> MapObject {
|
||||
MapObject {
|
||||
h3_cell: 0,
|
||||
mgrs_key: format!("MGRS({lat:.6},{lon:.6})"),
|
||||
class: class.into(),
|
||||
class_group: class.into(),
|
||||
gps_lat: lat,
|
||||
gps_lon: lon,
|
||||
size_width_m: 2.0,
|
||||
size_length_m: 2.0,
|
||||
confidence: 0.9,
|
||||
first_seen: Utc::now(),
|
||||
last_seen: Utc::now(),
|
||||
mission_id: mission_id.into(),
|
||||
source: MapObjectSource::CentralPulled,
|
||||
pending_upload: false,
|
||||
}
|
||||
}
|
||||
|
||||
fn ignored(mgrs: &str, class_group: &str, mission_id: &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: mission_id.into(),
|
||||
retention_scope: RetentionScope::Mission,
|
||||
expires_at: None,
|
||||
source: IgnoredItemSource::CentralPulled,
|
||||
pending_upload: false,
|
||||
}
|
||||
}
|
||||
|
||||
fn bundle(
|
||||
mission_id: &str,
|
||||
map_objects: Vec<MapObject>,
|
||||
ignored_items: Vec<IgnoredItem>,
|
||||
freshness: Option<BundleFreshness>,
|
||||
) -> MapObjectsBundle {
|
||||
MapObjectsBundle {
|
||||
schema_version: "1.0".into(),
|
||||
mission_id: mission_id.into(),
|
||||
bbox: [
|
||||
Coordinate {
|
||||
latitude: ANCHOR_LAT + 0.5,
|
||||
longitude: ANCHOR_LON - 0.5,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
Coordinate {
|
||||
latitude: ANCHOR_LAT - 0.5,
|
||||
longitude: ANCHOR_LON + 0.5,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
],
|
||||
map_objects,
|
||||
observations: Vec::new(),
|
||||
ignored_items,
|
||||
as_of: Utc::now(),
|
||||
freshness,
|
||||
}
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-1: Hydrate from bundle → store contains N + M entries, sync_state
|
||||
// = synced.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac1_hydrate_loads_bundle_and_sets_synced() {
|
||||
// Arrange
|
||||
let store = MapObjectsStore::default();
|
||||
let h = store.handle();
|
||||
let b = bundle(
|
||||
"m-az667",
|
||||
vec![
|
||||
map_object(ANCHOR_LAT, ANCHOR_LON, "tank", "m-az667"),
|
||||
map_object(ANCHOR_LAT + 0.001, ANCHOR_LON, "truck", "m-az667"),
|
||||
],
|
||||
vec![ignored("MGRS-X", "tank", "m-az667")],
|
||||
Some(BundleFreshness::Fresh),
|
||||
);
|
||||
|
||||
// Act
|
||||
h.hydrate(b).unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(h.len().unwrap(), 2);
|
||||
assert_eq!(h.sync_state().unwrap(), SyncState::Synced);
|
||||
assert!(h.is_ignored("MGRS-X", "tank").unwrap());
|
||||
assert!(h.last_pull_ts().unwrap().is_some());
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-2: Fallback bundle (freshness = Stale) → sync_state =
|
||||
// CachedFallback.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac2_stale_bundle_sets_cached_fallback() {
|
||||
// Arrange
|
||||
let store = MapObjectsStore::default();
|
||||
let h = store.handle();
|
||||
let b = bundle(
|
||||
"m-az667",
|
||||
vec![map_object(ANCHOR_LAT, ANCHOR_LON, "tank", "m-az667")],
|
||||
Vec::new(),
|
||||
Some(BundleFreshness::Stale),
|
||||
);
|
||||
|
||||
// Act
|
||||
h.hydrate(b).unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(h.sync_state().unwrap(), SyncState::CachedFallback);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-3: Classify appends pending observation.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac3_classify_appends_pending_observation() {
|
||||
// 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 b = bundle(
|
||||
"m-az667",
|
||||
Vec::new(),
|
||||
Vec::new(),
|
||||
Some(BundleFreshness::Fresh),
|
||||
);
|
||||
h.hydrate(b).unwrap();
|
||||
assert_eq!(h.pending_observations_count().unwrap(), 0);
|
||||
|
||||
// Act
|
||||
let _ = h
|
||||
.classify(input(ANCHOR_LAT, ANCHOR_LON, "tank", "m-az667"))
|
||||
.unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(h.pending_observations_count().unwrap(), 1);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-3b: Operator decline appends to pending_ignored.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac3b_local_decline_appends_to_pending_ignored() {
|
||||
use chrono::Duration as ChronoDuration;
|
||||
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: 0.85,
|
||||
mgrs: "MGRS-DECLINED".into(),
|
||||
class: "concealed_position".into(),
|
||||
class_group: "concealed_position_group".into(),
|
||||
source_detection_ids: Vec::new(),
|
||||
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_eq!(h.pending_ignored_count().unwrap(), 1);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-4: drain_pending returns and clears pending.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac4_drain_pending_clears_counts() {
|
||||
// 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 b = bundle(
|
||||
"m-az667",
|
||||
Vec::new(),
|
||||
Vec::new(),
|
||||
Some(BundleFreshness::Fresh),
|
||||
);
|
||||
h.hydrate(b).unwrap();
|
||||
|
||||
h.classify(input(ANCHOR_LAT, ANCHOR_LON, "tank", "m-az667"))
|
||||
.unwrap();
|
||||
h.classify(input(ANCHOR_LAT + 0.001, ANCHOR_LON, "truck", "m-az667"))
|
||||
.unwrap();
|
||||
h.append_ignored(IgnoredItem {
|
||||
source: IgnoredItemSource::LocalAppended,
|
||||
..ignored("MGRS-Y", "tank", "m-az667")
|
||||
})
|
||||
.unwrap();
|
||||
assert_eq!(h.pending_observations_count().unwrap(), 2);
|
||||
assert_eq!(h.pending_ignored_count().unwrap(), 1);
|
||||
|
||||
// Act
|
||||
let (obs, ign) = h.drain_pending().unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(obs.len(), 2);
|
||||
assert_eq!(ign.len(), 1);
|
||||
assert_eq!(h.pending_observations_count().unwrap(), 0);
|
||||
assert_eq!(h.pending_ignored_count().unwrap(), 0);
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// AC-5: cascade_mission drops mission-scoped objects but preserves
|
||||
// objects belonging to a different mission.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn ac5_cascade_mission_drops_only_matching_objects() {
|
||||
// Arrange
|
||||
let store = MapObjectsStore::default();
|
||||
let h = store.handle();
|
||||
let b = bundle(
|
||||
"m-A",
|
||||
vec![
|
||||
map_object(ANCHOR_LAT, ANCHOR_LON, "tank", "m-A"),
|
||||
map_object(ANCHOR_LAT + 0.001, ANCHOR_LON, "truck", "m-B"),
|
||||
],
|
||||
vec![
|
||||
ignored("MGRS-A", "tank", "m-A"),
|
||||
ignored("MGRS-B", "truck", "m-B"),
|
||||
],
|
||||
Some(BundleFreshness::Fresh),
|
||||
);
|
||||
h.hydrate(b).unwrap();
|
||||
assert_eq!(h.len().unwrap(), 2);
|
||||
|
||||
// Act
|
||||
h.cascade_mission("m-A").unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(h.len().unwrap(), 1);
|
||||
assert!(!h.is_ignored("MGRS-A", "tank").unwrap());
|
||||
assert!(h.is_ignored("MGRS-B", "truck").unwrap());
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// End-of-pass removed candidates land in pending observations.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn end_of_pass_appends_removed_candidate_to_pending() {
|
||||
// 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 _ = h
|
||||
.classify(input(ANCHOR_LAT, ANCHOR_LON, "tank", "m-az667"))
|
||||
.unwrap();
|
||||
// Drain the NEW observation so the pass adds exactly one new row.
|
||||
let _ = h.drain_pending().unwrap();
|
||||
|
||||
let region = [
|
||||
Coordinate {
|
||||
latitude: ANCHOR_LAT + 0.01,
|
||||
longitude: ANCHOR_LON - 0.01,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
Coordinate {
|
||||
latitude: ANCHOR_LAT - 0.01,
|
||||
longitude: ANCHOR_LON + 0.01,
|
||||
altitude_m: 0.0,
|
||||
},
|
||||
];
|
||||
|
||||
// Act
|
||||
std::thread::sleep(std::time::Duration::from_millis(2));
|
||||
h.pass_start(region).unwrap();
|
||||
let removed = h.end_of_pass(®ion).unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(removed.len(), 1);
|
||||
let (obs, _) = h.drain_pending().unwrap();
|
||||
assert_eq!(obs.len(), 1);
|
||||
assert!(matches!(
|
||||
obs[0].diff_kind,
|
||||
shared::models::mapobject::DiffKind::RemovedCandidate
|
||||
));
|
||||
}
|
||||
|
||||
// ---------------------------------------------------------------------
|
||||
// mark_pushed_ok records last_push_ts and resets to Synced.
|
||||
// ---------------------------------------------------------------------
|
||||
|
||||
#[test]
|
||||
fn mark_pushed_ok_records_timestamp() {
|
||||
// Arrange
|
||||
let store = MapObjectsStore::default();
|
||||
let h = store.handle();
|
||||
h.set_sync_state(SyncState::Degraded).unwrap();
|
||||
assert!(h.last_push_ts().unwrap().is_none());
|
||||
|
||||
// Act
|
||||
h.mark_pushed_ok().unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(h.sync_state().unwrap(), SyncState::Synced);
|
||||
assert!(h.last_push_ts().unwrap().is_some());
|
||||
}
|
||||
@@ -32,6 +32,8 @@ fn input(lat: f64, lon: f64, class: &str) -> ClassifyInput {
|
||||
confidence: 0.9,
|
||||
mission_id: "m-az666".into(),
|
||||
observed_at: Utc::now(),
|
||||
uav_id: "uav-az666".into(),
|
||||
observed_at_monotonic_ns: 0,
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -4,4 +4,5 @@ pub mod driver;
|
||||
pub mod fixed_wing;
|
||||
pub mod fsm;
|
||||
pub mod multirotor;
|
||||
pub mod telemetry;
|
||||
pub mod types;
|
||||
|
||||
@@ -0,0 +1,374 @@
|
||||
//! Per-airframe telemetry fan-out.
|
||||
//!
|
||||
//! `mission_executor` is the only component that subscribes to the
|
||||
//! raw decoded MAVLink stream (`mavlink_layer::InboundMessage`). It
|
||||
//! owns the projection of those messages into the typed
|
||||
//! [`UavTelemetry`] snapshot and the broadcast to three downstream
|
||||
//! consumers: `scan_controller`, `movement_detector`,
|
||||
//! `telemetry_stream`. A `tokio::sync::watch` holds the latest
|
||||
//! snapshot for BIT and health-check consumers.
|
||||
//!
|
||||
//! Each broadcast channel is **lossy** (`tokio::sync::broadcast`): a
|
||||
//! consumer that falls behind sees `RecvError::Lagged(n)` and the
|
||||
//! per-consumer drop counter increments — never silent, never
|
||||
//! blocking the producer.
|
||||
|
||||
use std::sync::atomic::{AtomicU64, Ordering};
|
||||
use std::sync::Arc;
|
||||
use std::time::{SystemTime, UNIX_EPOCH};
|
||||
|
||||
use tokio::sync::{broadcast, watch};
|
||||
|
||||
use shared::models::telemetry::{UavAttitude, UavMode, UavPosition, UavSysStatus, UavTelemetry};
|
||||
|
||||
/// Stable consumer name for the per-channel drop counter.
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
|
||||
pub enum Consumer {
|
||||
ScanController,
|
||||
MovementDetector,
|
||||
TelemetryStream,
|
||||
}
|
||||
|
||||
impl Consumer {
|
||||
pub const ALL: [Consumer; 3] = [
|
||||
Consumer::ScanController,
|
||||
Consumer::MovementDetector,
|
||||
Consumer::TelemetryStream,
|
||||
];
|
||||
|
||||
pub fn as_str(self) -> &'static str {
|
||||
match self {
|
||||
Consumer::ScanController => "scan_controller",
|
||||
Consumer::MovementDetector => "movement_detector",
|
||||
Consumer::TelemetryStream => "telemetry_stream",
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Default broadcast channel capacity. Sized to ~5 s of telemetry at
|
||||
/// 10 Hz so a brief consumer hiccup does not yet count as a drop.
|
||||
const DEFAULT_CHANNEL_CAP: usize = 64;
|
||||
|
||||
struct ChannelState {
|
||||
tx: broadcast::Sender<UavTelemetry>,
|
||||
drops: Arc<AtomicU64>,
|
||||
}
|
||||
|
||||
/// Owns the three downstream channels + the latest-snapshot watch.
|
||||
///
|
||||
/// Construct with [`TelemetryForwarder::new`] and feed it via
|
||||
/// [`TelemetryForwarder::publish`] (called once per decoded
|
||||
/// `MavlinkMessage`). Downstream consumers subscribe via
|
||||
/// [`subscribe`](TelemetryForwarder::subscribe) and read the latest
|
||||
/// snapshot via [`latest_snapshot`](TelemetryForwarder::latest_snapshot).
|
||||
pub struct TelemetryForwarder {
|
||||
scan: ChannelState,
|
||||
movement: ChannelState,
|
||||
telemetry: ChannelState,
|
||||
snapshot_tx: watch::Sender<UavTelemetry>,
|
||||
snapshot_rx: watch::Receiver<UavTelemetry>,
|
||||
last_monotonic_ns: AtomicU64,
|
||||
}
|
||||
|
||||
impl TelemetryForwarder {
|
||||
pub fn new() -> Self {
|
||||
Self::with_capacity(DEFAULT_CHANNEL_CAP)
|
||||
}
|
||||
|
||||
pub fn with_capacity(capacity: usize) -> Self {
|
||||
let cap = capacity.max(1);
|
||||
let (scan_tx, _) = broadcast::channel(cap);
|
||||
let (movement_tx, _) = broadcast::channel(cap);
|
||||
let (telemetry_tx, _) = broadcast::channel(cap);
|
||||
let (snapshot_tx, snapshot_rx) = watch::channel(UavTelemetry::empty());
|
||||
Self {
|
||||
scan: ChannelState {
|
||||
tx: scan_tx,
|
||||
drops: Arc::new(AtomicU64::new(0)),
|
||||
},
|
||||
movement: ChannelState {
|
||||
tx: movement_tx,
|
||||
drops: Arc::new(AtomicU64::new(0)),
|
||||
},
|
||||
telemetry: ChannelState {
|
||||
tx: telemetry_tx,
|
||||
drops: Arc::new(AtomicU64::new(0)),
|
||||
},
|
||||
snapshot_tx,
|
||||
snapshot_rx,
|
||||
last_monotonic_ns: AtomicU64::new(0),
|
||||
}
|
||||
}
|
||||
|
||||
/// Project an inbound `MavlinkMessage` into the current snapshot
|
||||
/// and publish the updated snapshot to all three channels plus
|
||||
/// the watch. Unknown / non-telemetry messages are ignored.
|
||||
pub fn publish_from_mavlink(&self, message: &MavlinkProjection) {
|
||||
let updated = self.project_into_snapshot(message);
|
||||
if let Some(snapshot) = updated {
|
||||
self.broadcast_snapshot(snapshot);
|
||||
}
|
||||
}
|
||||
|
||||
fn project_into_snapshot(&self, message: &MavlinkProjection) -> Option<UavTelemetry> {
|
||||
// Start from the current snapshot so unrelated fields persist.
|
||||
let mut next = *self.snapshot_rx.borrow();
|
||||
match message {
|
||||
MavlinkProjection::Position(p) => next.position = Some(*p),
|
||||
MavlinkProjection::Attitude(a) => next.attitude = Some(*a),
|
||||
MavlinkProjection::Mode(m) => next.mode = Some(*m),
|
||||
MavlinkProjection::SysStatus(s) => next.sys_status = Some(*s),
|
||||
}
|
||||
|
||||
let now = monotonic_now_ns();
|
||||
// Enforce monotonicity even if SystemTime clock jumps backward.
|
||||
let prev = self.last_monotonic_ns.load(Ordering::SeqCst);
|
||||
let ts = now.max(prev.saturating_add(1));
|
||||
self.last_monotonic_ns.store(ts, Ordering::SeqCst);
|
||||
next.monotonic_ts_ns = ts;
|
||||
Some(next)
|
||||
}
|
||||
|
||||
fn broadcast_snapshot(&self, snapshot: UavTelemetry) {
|
||||
// `send` on a broadcast::Sender with no subscribers returns
|
||||
// Err — that is NOT a drop, it is a "no consumer yet" state.
|
||||
// Real drops happen on the consumer side via RecvError::Lagged.
|
||||
let _ = self.scan.tx.send(snapshot);
|
||||
let _ = self.movement.tx.send(snapshot);
|
||||
let _ = self.telemetry.tx.send(snapshot);
|
||||
// `watch::Sender::send` only errors when every receiver has
|
||||
// been dropped; we hold one ourselves (`snapshot_rx`) so the
|
||||
// call always succeeds for the lifetime of the forwarder.
|
||||
let _ = self.snapshot_tx.send(snapshot);
|
||||
}
|
||||
|
||||
/// Subscribe to one of the three downstream channels. Returns a
|
||||
/// drop-counting wrapper so the slow-consumer drop count is
|
||||
/// surfaced on the forwarder's health surface.
|
||||
pub fn subscribe(&self, consumer: Consumer) -> DropCountingReceiver {
|
||||
let state = match consumer {
|
||||
Consumer::ScanController => &self.scan,
|
||||
Consumer::MovementDetector => &self.movement,
|
||||
Consumer::TelemetryStream => &self.telemetry,
|
||||
};
|
||||
DropCountingReceiver {
|
||||
consumer,
|
||||
rx: state.tx.subscribe(),
|
||||
drops: state.drops.clone(),
|
||||
}
|
||||
}
|
||||
|
||||
/// Drop counter for a given consumer. Includes drops observed by
|
||||
/// every receiver that has called [`DropCountingReceiver::recv`]
|
||||
/// so far.
|
||||
pub fn drop_count(&self, consumer: Consumer) -> u64 {
|
||||
let state = match consumer {
|
||||
Consumer::ScanController => &self.scan,
|
||||
Consumer::MovementDetector => &self.movement,
|
||||
Consumer::TelemetryStream => &self.telemetry,
|
||||
};
|
||||
state.drops.load(Ordering::Relaxed)
|
||||
}
|
||||
|
||||
/// Latest fully-projected snapshot. Cheap (no copy of inner
|
||||
/// `Option` fields — `UavTelemetry` is `Copy`).
|
||||
pub fn latest_snapshot(&self) -> UavTelemetry {
|
||||
*self.snapshot_rx.borrow()
|
||||
}
|
||||
|
||||
/// Last assigned monotonic timestamp (ns). Used by BIT and the
|
||||
/// health surface; 0 before any message has been published.
|
||||
pub fn last_monotonic_ns(&self) -> u64 {
|
||||
self.last_monotonic_ns.load(Ordering::SeqCst)
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for TelemetryForwarder {
|
||||
fn default() -> Self {
|
||||
Self::new()
|
||||
}
|
||||
}
|
||||
|
||||
/// Drop-counting wrapper around `broadcast::Receiver`. On `Lagged(n)`
|
||||
/// the wrapper increments the forwarder's per-consumer drop counter
|
||||
/// by `n` and transparently advances to the next available message —
|
||||
/// it never returns `Lagged` to the caller (the lag is a metric, not
|
||||
/// an error the consumer needs to handle).
|
||||
///
|
||||
/// `Closed` is still returned as-is: it means the forwarder was
|
||||
/// dropped and no further messages will arrive.
|
||||
pub struct DropCountingReceiver {
|
||||
consumer: Consumer,
|
||||
rx: broadcast::Receiver<UavTelemetry>,
|
||||
drops: Arc<AtomicU64>,
|
||||
}
|
||||
|
||||
impl DropCountingReceiver {
|
||||
pub fn consumer(&self) -> Consumer {
|
||||
self.consumer
|
||||
}
|
||||
|
||||
pub async fn recv(&mut self) -> Result<UavTelemetry, broadcast::error::RecvError> {
|
||||
loop {
|
||||
match self.rx.recv().await {
|
||||
Ok(t) => return Ok(t),
|
||||
Err(broadcast::error::RecvError::Lagged(n)) => {
|
||||
self.drops.fetch_add(n, Ordering::Relaxed);
|
||||
// Keep looping — the next call to recv() returns
|
||||
// the next not-yet-overwritten message.
|
||||
continue;
|
||||
}
|
||||
Err(broadcast::error::RecvError::Closed) => {
|
||||
return Err(broadcast::error::RecvError::Closed)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Non-blocking variant; returns Empty when the channel is empty.
|
||||
/// Drains pending `Lagged(n)` into the drop counter on the way.
|
||||
pub fn try_recv(&mut self) -> Result<UavTelemetry, broadcast::error::TryRecvError> {
|
||||
loop {
|
||||
match self.rx.try_recv() {
|
||||
Ok(t) => return Ok(t),
|
||||
Err(broadcast::error::TryRecvError::Lagged(n)) => {
|
||||
self.drops.fetch_add(n, Ordering::Relaxed);
|
||||
continue;
|
||||
}
|
||||
Err(other) => return Err(other),
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// What `mission_executor` accepts from a `MavlinkMessage`. The
|
||||
/// projection lives in this module rather than in `mavlink_layer`
|
||||
/// because the `UavTelemetry` shape is a mission-executor-side
|
||||
/// concern; `mavlink_layer` only knows about wire messages.
|
||||
#[derive(Debug, Clone, Copy)]
|
||||
pub enum MavlinkProjection {
|
||||
Position(UavPosition),
|
||||
Attitude(UavAttitude),
|
||||
Mode(UavMode),
|
||||
SysStatus(UavSysStatus),
|
||||
}
|
||||
|
||||
impl MavlinkProjection {
|
||||
/// Try to project a single decoded MAVLink message into a
|
||||
/// telemetry update. Returns `None` for messages that don't
|
||||
/// affect `UavTelemetry` (heartbeats from peer GCS instances,
|
||||
/// mission protocol messages, command acks etc.).
|
||||
pub fn from_mavlink(msg: &mavlink_layer::MavlinkMessage) -> Option<Self> {
|
||||
use mavlink_layer::MavlinkMessage;
|
||||
match msg {
|
||||
MavlinkMessage::GlobalPositionInt(p) => Some(Self::Position(UavPosition {
|
||||
lat_e7: p.lat_e7,
|
||||
lon_e7: p.lon_e7,
|
||||
alt_m: p.alt_mm as f32 * 1.0e-3,
|
||||
relative_alt_m: p.relative_alt_mm as f32 * 1.0e-3,
|
||||
vx_mps: p.vx_cmps as f32 * 1.0e-2,
|
||||
vy_mps: p.vy_cmps as f32 * 1.0e-2,
|
||||
vz_mps: p.vz_cmps as f32 * 1.0e-2,
|
||||
heading_deg: p.hdg_cdeg as f32 * 1.0e-2,
|
||||
ts_boot_ms: p.time_boot_ms,
|
||||
})),
|
||||
MavlinkMessage::Attitude(a) => Some(Self::Attitude(UavAttitude {
|
||||
roll: a.roll,
|
||||
pitch: a.pitch,
|
||||
yaw: a.yaw,
|
||||
rollspeed: a.rollspeed,
|
||||
pitchspeed: a.pitchspeed,
|
||||
yawspeed: a.yawspeed,
|
||||
ts_boot_ms: a.time_boot_ms,
|
||||
})),
|
||||
MavlinkMessage::Heartbeat(h) => Some(Self::Mode(UavMode {
|
||||
base_mode: h.base_mode,
|
||||
custom_mode: h.custom_mode,
|
||||
system_status: h.system_status,
|
||||
})),
|
||||
MavlinkMessage::SysStatus(s) => Some(Self::SysStatus(UavSysStatus {
|
||||
voltage_battery_mv: s.voltage_battery,
|
||||
current_battery_ca: s.current_battery,
|
||||
battery_remaining: s.battery_remaining,
|
||||
onboard_sensors_health: s.onboard_control_sensors_health,
|
||||
errors_comm: s.errors_comm,
|
||||
})),
|
||||
_ => None,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Wall-clock to monotonic-ns conversion. Tokio does not expose its
|
||||
/// internal monotonic clock; for AZ-648's purposes — strictly
|
||||
/// non-decreasing per-instance timestamps — `SystemTime::now()` plus
|
||||
/// the FSM-side monotonicity guard is sufficient. The guard
|
||||
/// (`last_monotonic_ns.max(prev + 1)`) defeats any wall-clock
|
||||
/// rewind.
|
||||
fn monotonic_now_ns() -> u64 {
|
||||
SystemTime::now()
|
||||
.duration_since(UNIX_EPOCH)
|
||||
.map(|d| d.as_nanos() as u64)
|
||||
.unwrap_or(0)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
fn pos(lat: i32, lon: i32) -> UavPosition {
|
||||
UavPosition {
|
||||
lat_e7: lat,
|
||||
lon_e7: lon,
|
||||
alt_m: 100.0,
|
||||
relative_alt_m: 50.0,
|
||||
vx_mps: 0.0,
|
||||
vy_mps: 0.0,
|
||||
vz_mps: 0.0,
|
||||
heading_deg: 0.0,
|
||||
ts_boot_ms: 0,
|
||||
}
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn publish_updates_snapshot_and_advances_monotonic() {
|
||||
// Arrange
|
||||
let f = TelemetryForwarder::new();
|
||||
|
||||
// Act
|
||||
f.publish_from_mavlink(&MavlinkProjection::Position(pos(1, 2)));
|
||||
let s1 = f.latest_snapshot();
|
||||
f.publish_from_mavlink(&MavlinkProjection::Position(pos(3, 4)));
|
||||
let s2 = f.latest_snapshot();
|
||||
|
||||
// Assert
|
||||
assert_eq!(s1.position.unwrap().lat_e7, 1);
|
||||
assert_eq!(s2.position.unwrap().lat_e7, 3);
|
||||
assert!(s2.monotonic_ts_ns > s1.monotonic_ts_ns);
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn fields_persist_across_partial_updates() {
|
||||
// Arrange
|
||||
let f = TelemetryForwarder::new();
|
||||
|
||||
// Act — publish position, then attitude; the snapshot should
|
||||
// carry both.
|
||||
f.publish_from_mavlink(&MavlinkProjection::Position(pos(7, 8)));
|
||||
f.publish_from_mavlink(&MavlinkProjection::Attitude(UavAttitude {
|
||||
roll: 0.1,
|
||||
pitch: 0.2,
|
||||
yaw: 0.3,
|
||||
rollspeed: 0.0,
|
||||
pitchspeed: 0.0,
|
||||
yawspeed: 0.0,
|
||||
ts_boot_ms: 100,
|
||||
}));
|
||||
|
||||
// Assert
|
||||
let snap = f.latest_snapshot();
|
||||
assert!(snap.position.is_some());
|
||||
assert!(snap.attitude.is_some());
|
||||
assert_eq!(snap.position.unwrap().lat_e7, 7);
|
||||
assert_eq!(snap.attitude.unwrap().yaw, 0.3);
|
||||
}
|
||||
}
|
||||
@@ -33,6 +33,9 @@ use shared::models::mission::{Coordinate, MissionItem, MissionWaypoint};
|
||||
mod internal;
|
||||
|
||||
pub use internal::driver::{DriverError, MissionDriver};
|
||||
pub use internal::telemetry::{
|
||||
Consumer, DropCountingReceiver, MavlinkProjection, TelemetryForwarder,
|
||||
};
|
||||
pub use internal::types::{
|
||||
MissionState, StepOutcome, Telemetry, TransitionEvent, TransitionKey, Variant,
|
||||
};
|
||||
@@ -267,6 +270,49 @@ impl HealthDetail for ComponentHealth {
|
||||
}
|
||||
}
|
||||
|
||||
/// Spawn a task that subscribes to `mavlink_handle.subscribe_inbound()`
|
||||
/// and republishes every telemetry-bearing message through
|
||||
/// `forwarder`. Returns the task handle.
|
||||
///
|
||||
/// Non-telemetry MAVLink messages (mission protocol, command acks,
|
||||
/// status text, etc.) are intentionally ignored — they are consumed
|
||||
/// by other paths inside `mavlink_layer` (`send_command` demux,
|
||||
/// `mission_client` pull, …).
|
||||
///
|
||||
/// `RecvError::Lagged(n)` on the inbound subscription is treated as
|
||||
/// a hard drop on this side too: we log `n` skipped frames at warn
|
||||
/// level (the forwarder doesn't even see them) and continue. The
|
||||
/// forwarder's downstream channels are independent and unaffected.
|
||||
pub fn spawn_mavlink_pump(
|
||||
mavlink_handle: mavlink_layer::MavlinkHandle,
|
||||
forwarder: Arc<TelemetryForwarder>,
|
||||
) -> JoinHandle<()> {
|
||||
let mut rx = mavlink_handle.subscribe_inbound();
|
||||
tokio::spawn(async move {
|
||||
loop {
|
||||
match rx.recv().await {
|
||||
Ok(inbound) => {
|
||||
if let Some(projection) = MavlinkProjection::from_mavlink(&inbound.message) {
|
||||
forwarder.publish_from_mavlink(&projection);
|
||||
}
|
||||
}
|
||||
Err(tokio::sync::broadcast::error::RecvError::Lagged(n)) => {
|
||||
tracing::warn!(
|
||||
skipped = n,
|
||||
"mission_executor telemetry pump lagged on mavlink inbound stream"
|
||||
);
|
||||
}
|
||||
Err(tokio::sync::broadcast::error::RecvError::Closed) => {
|
||||
tracing::info!(
|
||||
"mission_executor telemetry pump: mavlink inbound stream closed"
|
||||
);
|
||||
return;
|
||||
}
|
||||
}
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
@@ -234,13 +234,11 @@ async fn ac1_multirotor_happy_path_reaches_done() {
|
||||
landed_disarmed: true,
|
||||
})
|
||||
.unwrap();
|
||||
await_state(
|
||||
&handle,
|
||||
MissionState::PostFlightSync,
|
||||
Duration::from_secs(1),
|
||||
)
|
||||
.await;
|
||||
await_state(&handle, MissionState::Done, Duration::from_secs(1)).await;
|
||||
// PostFlightSync is transient (pure-guard then driver action),
|
||||
// so the FSM may transit through it inside the poll interval.
|
||||
// We only assert the terminal Done state — the event stream
|
||||
// below proves the path traversed PostFlightSync.
|
||||
await_state(&handle, MissionState::Done, Duration::from_secs(2)).await;
|
||||
|
||||
// Assert — health is green at Done, driver saw exactly one of each action.
|
||||
let health = handle.health().await;
|
||||
@@ -259,6 +257,7 @@ async fn ac1_multirotor_happy_path_reaches_done() {
|
||||
observed.push((evt.from, evt.to));
|
||||
}
|
||||
assert!(observed.contains(&(MissionState::Disconnected, MissionState::Connected)));
|
||||
assert!(observed.contains(&(MissionState::Land, MissionState::PostFlightSync)));
|
||||
assert!(observed.contains(&(MissionState::PostFlightSync, MissionState::Done)));
|
||||
|
||||
let _ = join.await;
|
||||
|
||||
@@ -0,0 +1,207 @@
|
||||
//! AZ-649 acceptance criteria.
|
||||
//!
|
||||
//! AC-1 — telemetry reaches all three downstream consumers at the
|
||||
//! arriving rate.
|
||||
//! AC-2 — slow consumer drops, fast consumers unaffected.
|
||||
//! AC-3 — `latest_snapshot()` is monotonic across concurrent reads.
|
||||
|
||||
use std::sync::atomic::{AtomicU64, Ordering};
|
||||
use std::sync::Arc;
|
||||
use std::time::Duration;
|
||||
|
||||
use mission_executor::{Consumer, MavlinkProjection, TelemetryForwarder};
|
||||
use shared::models::telemetry::{UavAttitude, UavPosition};
|
||||
use tokio::time::timeout;
|
||||
|
||||
fn pos(lat: i32) -> UavPosition {
|
||||
UavPosition {
|
||||
lat_e7: lat,
|
||||
lon_e7: 0,
|
||||
alt_m: 100.0,
|
||||
relative_alt_m: 50.0,
|
||||
vx_mps: 0.0,
|
||||
vy_mps: 0.0,
|
||||
vz_mps: 0.0,
|
||||
heading_deg: 0.0,
|
||||
ts_boot_ms: lat as u32,
|
||||
}
|
||||
}
|
||||
|
||||
fn att(yaw: f32) -> UavAttitude {
|
||||
UavAttitude {
|
||||
roll: 0.0,
|
||||
pitch: 0.0,
|
||||
yaw,
|
||||
rollspeed: 0.0,
|
||||
pitchspeed: 0.0,
|
||||
yawspeed: 0.0,
|
||||
ts_boot_ms: 0,
|
||||
}
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac1_telemetry_reaches_all_three_consumers() {
|
||||
// Arrange — three fast consumers and a producer that publishes
|
||||
// 10 alternating position/attitude updates (simulating 10 Hz).
|
||||
let f = Arc::new(TelemetryForwarder::new());
|
||||
let mut rx_scan = f.subscribe(Consumer::ScanController);
|
||||
let mut rx_movement = f.subscribe(Consumer::MovementDetector);
|
||||
let mut rx_telemetry = f.subscribe(Consumer::TelemetryStream);
|
||||
|
||||
// Act — publish 10 updates (5 position, 5 attitude).
|
||||
for i in 0..10 {
|
||||
if i % 2 == 0 {
|
||||
f.publish_from_mavlink(&MavlinkProjection::Position(pos(i)));
|
||||
} else {
|
||||
f.publish_from_mavlink(&MavlinkProjection::Attitude(att(i as f32)));
|
||||
}
|
||||
}
|
||||
|
||||
// Assert — each consumer received exactly 10 snapshots; the last
|
||||
// one carries the latest position and last-set attitude.
|
||||
let mut count_scan = 0;
|
||||
let mut last_scan = None;
|
||||
while let Ok(snap) = rx_scan.try_recv() {
|
||||
count_scan += 1;
|
||||
last_scan = Some(snap);
|
||||
}
|
||||
assert_eq!(count_scan, 10);
|
||||
let snap = last_scan.unwrap();
|
||||
assert_eq!(snap.position.unwrap().lat_e7, 8);
|
||||
assert_eq!(snap.attitude.unwrap().yaw, 9.0);
|
||||
|
||||
let count_movement = drain_count(&mut rx_movement);
|
||||
let count_telemetry = drain_count(&mut rx_telemetry);
|
||||
assert_eq!(count_movement, 10);
|
||||
assert_eq!(count_telemetry, 10);
|
||||
|
||||
// No drops on any channel — every consumer kept up.
|
||||
for c in Consumer::ALL {
|
||||
assert_eq!(f.drop_count(c), 0, "{} drop count should be 0", c.as_str());
|
||||
}
|
||||
}
|
||||
|
||||
fn drain_count(rx: &mut mission_executor::DropCountingReceiver) -> usize {
|
||||
let mut count = 0;
|
||||
while rx.try_recv().is_ok() {
|
||||
count += 1;
|
||||
}
|
||||
count
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac2_slow_consumer_drops_fast_consumers_unaffected() {
|
||||
// Arrange — channel cap = 4. We publish 16 messages with a slow
|
||||
// consumer that waits before reading. The 16 - 4 = 12 oldest
|
||||
// messages should be overwritten in its buffer and surface as
|
||||
// Lagged(12) on the next recv.
|
||||
let f = Arc::new(TelemetryForwarder::with_capacity(4));
|
||||
let mut slow = f.subscribe(Consumer::ScanController);
|
||||
let mut fast1 = f.subscribe(Consumer::MovementDetector);
|
||||
let mut fast2 = f.subscribe(Consumer::TelemetryStream);
|
||||
|
||||
// Spawn fast consumers that drain into local counters as messages arrive.
|
||||
let fast1_count = Arc::new(AtomicU64::new(0));
|
||||
let fast2_count = Arc::new(AtomicU64::new(0));
|
||||
let fast1_count_h = fast1_count.clone();
|
||||
let fast2_count_h = fast2_count.clone();
|
||||
let fast1_task = tokio::spawn(async move {
|
||||
loop {
|
||||
match fast1.recv().await {
|
||||
Ok(_) => {
|
||||
fast1_count_h.fetch_add(1, Ordering::SeqCst);
|
||||
}
|
||||
Err(_) => return,
|
||||
}
|
||||
}
|
||||
});
|
||||
let fast2_task = tokio::spawn(async move {
|
||||
loop {
|
||||
match fast2.recv().await {
|
||||
Ok(_) => {
|
||||
fast2_count_h.fetch_add(1, Ordering::SeqCst);
|
||||
}
|
||||
Err(_) => return,
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
// Act — publish 16 messages with a tiny yield between each so the
|
||||
// fast consumers can keep up while the slow consumer stays
|
||||
// un-polled.
|
||||
for i in 0..16 {
|
||||
f.publish_from_mavlink(&MavlinkProjection::Position(pos(i)));
|
||||
tokio::time::sleep(Duration::from_millis(2)).await;
|
||||
}
|
||||
|
||||
// Give the fast consumers a moment to flush.
|
||||
tokio::time::sleep(Duration::from_millis(50)).await;
|
||||
|
||||
// Slow consumer reads ONE message — recv returns the next not-
|
||||
// yet-overwritten value AND the drop counter advances by
|
||||
// (16 - cap) under-the-hood.
|
||||
let _ = timeout(Duration::from_secs(1), slow.recv()).await.unwrap();
|
||||
|
||||
// Assert — fast consumers saw every message; slow saw drops.
|
||||
assert_eq!(fast1_count.load(Ordering::SeqCst), 16);
|
||||
assert_eq!(fast2_count.load(Ordering::SeqCst), 16);
|
||||
let slow_drops = f.drop_count(Consumer::ScanController);
|
||||
assert!(
|
||||
slow_drops > 0,
|
||||
"expected slow consumer to register some drops, got {slow_drops}"
|
||||
);
|
||||
// Fast consumers saw zero drops.
|
||||
assert_eq!(f.drop_count(Consumer::MovementDetector), 0);
|
||||
assert_eq!(f.drop_count(Consumer::TelemetryStream), 0);
|
||||
|
||||
// Cleanup
|
||||
fast1_task.abort();
|
||||
fast2_task.abort();
|
||||
let _ = fast1_task.await;
|
||||
let _ = fast2_task.await;
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac3_latest_snapshot_is_monotonic_under_concurrent_reads() {
|
||||
// Arrange — a producer that publishes 1 000 times in a tight
|
||||
// loop, and 4 reader tasks that each take 1 000 snapshots and
|
||||
// verify monotonicity in their own observed sequence.
|
||||
let f = Arc::new(TelemetryForwarder::new());
|
||||
let producer = {
|
||||
let f = f.clone();
|
||||
tokio::spawn(async move {
|
||||
for i in 0..1_000_i32 {
|
||||
f.publish_from_mavlink(&MavlinkProjection::Position(pos(i)));
|
||||
tokio::task::yield_now().await;
|
||||
}
|
||||
})
|
||||
};
|
||||
|
||||
let mut readers = Vec::new();
|
||||
for _ in 0..4 {
|
||||
let f = f.clone();
|
||||
readers.push(tokio::spawn(async move {
|
||||
let mut prev = 0u64;
|
||||
for _ in 0..1_000 {
|
||||
let snap = f.latest_snapshot();
|
||||
assert!(
|
||||
snap.monotonic_ts_ns >= prev,
|
||||
"snapshot regressed: prev={} new={}",
|
||||
prev,
|
||||
snap.monotonic_ts_ns
|
||||
);
|
||||
prev = snap.monotonic_ts_ns;
|
||||
tokio::task::yield_now().await;
|
||||
}
|
||||
}));
|
||||
}
|
||||
|
||||
// Act / Assert — every task must complete without panicking.
|
||||
producer.await.unwrap();
|
||||
for r in readers {
|
||||
r.await.unwrap();
|
||||
}
|
||||
|
||||
// Final snapshot must have a non-zero monotonic timestamp.
|
||||
assert!(f.last_monotonic_ns() > 0);
|
||||
}
|
||||
@@ -11,5 +11,6 @@ pub mod mission;
|
||||
pub mod movement;
|
||||
pub mod operator;
|
||||
pub mod poi;
|
||||
pub mod telemetry;
|
||||
pub mod tier2;
|
||||
pub mod vlm;
|
||||
|
||||
@@ -13,6 +13,7 @@ pub enum VlmPipelineStatus {
|
||||
NotRequested,
|
||||
Pending,
|
||||
Ok,
|
||||
Inconclusive,
|
||||
Timeout,
|
||||
SchemaInvalid,
|
||||
IpcError,
|
||||
@@ -23,6 +24,7 @@ impl From<VlmStatus> for VlmPipelineStatus {
|
||||
fn from(s: VlmStatus) -> Self {
|
||||
match s {
|
||||
VlmStatus::Ok => Self::Ok,
|
||||
VlmStatus::Inconclusive => Self::Inconclusive,
|
||||
VlmStatus::Timeout => Self::Timeout,
|
||||
VlmStatus::SchemaInvalid => Self::SchemaInvalid,
|
||||
VlmStatus::IpcError => Self::IpcError,
|
||||
|
||||
@@ -0,0 +1,96 @@
|
||||
//! `UavTelemetry` — projection of decoded MAVLink telemetry into a
|
||||
//! typed snapshot that downstream consumers (`scan_controller`,
|
||||
//! `movement_detector`, `telemetry_stream`, BIT) consume.
|
||||
//!
|
||||
//! Authoritative projection rules:
|
||||
//!
|
||||
//! - `position` from `GLOBAL_POSITION_INT` (id 33). Latitude/longitude
|
||||
//! are kept in their MAVLink-native E7 form so consumers that
|
||||
//! compare against waypoints (also E7) don't re-introduce float
|
||||
//! round-trip drift. Altitude is in metres (MSL + AGL relative).
|
||||
//! Velocities are in m/s, heading in degrees [0, 360).
|
||||
//! - `attitude` from `ATTITUDE` (id 30). Angles in radians per the
|
||||
//! MAVLink convention.
|
||||
//! - `mode` from `HEARTBEAT` (id 0). The `(base_mode, custom_mode)`
|
||||
//! pair is the canonical (vehicle-type-specific) discriminator;
|
||||
//! `system_status` is the MAV_STATE enum (`MAV_STATE_ACTIVE` etc.).
|
||||
//! - `sys_status` from `SYS_STATUS` (id 1). Battery + comms + sensor
|
||||
//! health bitfield — the bits consumers actually read are
|
||||
//! documented in `architecture.md §5.6`.
|
||||
//! - `monotonic_ts_ns` is the host monotonic timestamp captured the
|
||||
//! moment the originating MAVLink message was decoded. Strictly
|
||||
//! non-decreasing across snapshots. Boot-time-relative fields
|
||||
//! (`ts_boot_ms`) are kept on each sub-struct so consumers that
|
||||
//! already correlate against MAVLink time-bases (e.g. EKF logs)
|
||||
//! don't lose them.
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
|
||||
pub struct UavPosition {
|
||||
pub lat_e7: i32,
|
||||
pub lon_e7: i32,
|
||||
pub alt_m: f32,
|
||||
pub relative_alt_m: f32,
|
||||
pub vx_mps: f32,
|
||||
pub vy_mps: f32,
|
||||
pub vz_mps: f32,
|
||||
pub heading_deg: f32,
|
||||
pub ts_boot_ms: u32,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
|
||||
pub struct UavAttitude {
|
||||
pub roll: f32,
|
||||
pub pitch: f32,
|
||||
pub yaw: f32,
|
||||
pub rollspeed: f32,
|
||||
pub pitchspeed: f32,
|
||||
pub yawspeed: f32,
|
||||
pub ts_boot_ms: u32,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct UavMode {
|
||||
pub base_mode: u8,
|
||||
pub custom_mode: u32,
|
||||
pub system_status: u8,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
|
||||
pub struct UavSysStatus {
|
||||
pub voltage_battery_mv: u16,
|
||||
pub current_battery_ca: i16,
|
||||
pub battery_remaining: i8,
|
||||
pub onboard_sensors_health: u32,
|
||||
pub errors_comm: u16,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Serialize, Deserialize)]
|
||||
pub struct UavTelemetry {
|
||||
pub position: Option<UavPosition>,
|
||||
pub attitude: Option<UavAttitude>,
|
||||
pub mode: Option<UavMode>,
|
||||
pub sys_status: Option<UavSysStatus>,
|
||||
pub monotonic_ts_ns: u64,
|
||||
}
|
||||
|
||||
impl UavTelemetry {
|
||||
/// Empty snapshot used as the initial value before any telemetry
|
||||
/// has arrived.
|
||||
pub fn empty() -> Self {
|
||||
Self {
|
||||
position: None,
|
||||
attitude: None,
|
||||
mode: None,
|
||||
sys_status: None,
|
||||
monotonic_ts_ns: 0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for UavTelemetry {
|
||||
fn default() -> Self {
|
||||
Self::empty()
|
||||
}
|
||||
}
|
||||
@@ -16,10 +16,24 @@ pub enum VlmLabel {
|
||||
Error,
|
||||
}
|
||||
|
||||
/// Exhaustive status enum per AZ-674 §AC-4. Consumers MUST match every
|
||||
/// variant — no `_ => …` catch-alls in the policy code path.
|
||||
///
|
||||
/// Distinction from [`VlmLabel`]: `status` says "did the VLM call
|
||||
/// itself produce a usable answer"; `label` says "what does that
|
||||
/// answer mean". `(status = Ok, label = Inconclusive)` is a valid
|
||||
/// combination — the call succeeded, the model said it couldn't
|
||||
/// classify. `status = Inconclusive` is reserved for the case where
|
||||
/// the call returned a structured assessment but the verdict envelope
|
||||
/// is itself "inconclusive" at the protocol level (model abstained,
|
||||
/// not the same as label-inconclusive). Keeping both lets the
|
||||
/// scan_controller distinguish "VLM declined to commit" from "VLM
|
||||
/// committed to 'inconclusive'".
|
||||
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
|
||||
#[serde(rename_all = "snake_case")]
|
||||
pub enum VlmStatus {
|
||||
Ok,
|
||||
Inconclusive,
|
||||
Timeout,
|
||||
SchemaInvalid,
|
||||
IpcError,
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
//! Internal modules used only by the feature-gated `vlm` build.
|
||||
|
||||
pub mod parser;
|
||||
pub mod peer_cred;
|
||||
pub mod prompt;
|
||||
pub mod uds_client;
|
||||
|
||||
@@ -0,0 +1,239 @@
|
||||
//! NanoLLM response → `VlmAssessment` parsing + model-version tracking.
|
||||
//!
|
||||
//! AZ-674 introduces a separation between the wire layer (which
|
||||
//! returns raw bytes once the length prefix has been consumed) and
|
||||
//! the parsing layer (this module), which:
|
||||
//!
|
||||
//! 1. Validates the JSON against the `VlmAssessment` schema. Missing
|
||||
//! required fields, wrong types, or anything else that fails
|
||||
//! `serde_json::from_slice` returns
|
||||
//! `VlmAssessment { status: SchemaInvalid, … }` — **NOT** an
|
||||
//! `Err`. Schema-invalid is a recoverable outcome, observable by
|
||||
//! `scan_controller`.
|
||||
//! 2. Logs the raw response (size-capped) at `warn` level whenever a
|
||||
//! schema-invalid is returned. The cap is configurable; default
|
||||
//! 4 KiB per AZ-674 §Scope.
|
||||
//! 3. Tracks `model_version` across calls and emits a single
|
||||
//! `info!` log line the first time a new version is observed.
|
||||
//!
|
||||
//! Required schema fields: `label`, `confidence`, `status`,
|
||||
//! `model_version`, `latency_ms`. `evidence_spans` and `reason` are
|
||||
//! optional (serde defaults to `Vec::new()` / `String::new()`).
|
||||
|
||||
use std::sync::atomic::{AtomicU64, Ordering};
|
||||
use std::sync::Mutex;
|
||||
|
||||
use serde::Deserialize;
|
||||
use shared::models::vlm::{VlmAssessment, VlmLabel, VlmStatus};
|
||||
|
||||
/// Default size cap for the raw-response log on schema-invalid.
|
||||
pub const DEFAULT_LOG_TRUNCATION_BYTES: usize = 4 * 1024;
|
||||
|
||||
/// Parser + model-version tracker. Cloneable via `Arc` if a single
|
||||
/// instance must be shared across tasks; the inner state is internally
|
||||
/// synchronised.
|
||||
pub struct AssessmentParser {
|
||||
last_model_version: Mutex<Option<String>>,
|
||||
schema_invalid_count: AtomicU64,
|
||||
model_version_changes: AtomicU64,
|
||||
log_truncation_bytes: usize,
|
||||
}
|
||||
|
||||
impl AssessmentParser {
|
||||
pub fn new() -> Self {
|
||||
Self::with_truncation_bytes(DEFAULT_LOG_TRUNCATION_BYTES)
|
||||
}
|
||||
|
||||
pub fn with_truncation_bytes(bytes: usize) -> Self {
|
||||
Self {
|
||||
last_model_version: Mutex::new(None),
|
||||
schema_invalid_count: AtomicU64::new(0),
|
||||
model_version_changes: AtomicU64::new(0),
|
||||
log_truncation_bytes: bytes,
|
||||
}
|
||||
}
|
||||
|
||||
/// Parse a raw response body into a `VlmAssessment`. A
|
||||
/// schema-invalid response returns `VlmAssessment { status:
|
||||
/// SchemaInvalid, … }`; never returns `Err`.
|
||||
pub fn parse(&self, raw: &[u8]) -> VlmAssessment {
|
||||
let assessment: VlmAssessment = match serde_json::from_slice::<VlmAssessmentWire>(raw) {
|
||||
Ok(wire) => wire.into(),
|
||||
Err(e) => {
|
||||
self.schema_invalid_count.fetch_add(1, Ordering::Relaxed);
|
||||
let excerpt = excerpt(raw, self.log_truncation_bytes);
|
||||
tracing::warn!(
|
||||
error = %e,
|
||||
raw_excerpt = %excerpt,
|
||||
raw_bytes = raw.len(),
|
||||
"vlm_client schema-invalid response"
|
||||
);
|
||||
return schema_invalid(format!("json: {e}"));
|
||||
}
|
||||
};
|
||||
self.track_model_version(&assessment.model_version);
|
||||
assessment
|
||||
}
|
||||
|
||||
/// Cumulative count of schema-invalid responses observed by this
|
||||
/// parser instance. Used by the health surface.
|
||||
pub fn schema_invalid_count(&self) -> u64 {
|
||||
self.schema_invalid_count.load(Ordering::Relaxed)
|
||||
}
|
||||
|
||||
/// Cumulative count of `model_version` change events emitted.
|
||||
/// First successful parse counts as one change (None → "v1.0").
|
||||
pub fn model_version_changes(&self) -> u64 {
|
||||
self.model_version_changes.load(Ordering::Relaxed)
|
||||
}
|
||||
|
||||
/// Latest seen `model_version` (`None` before the first
|
||||
/// successful parse).
|
||||
pub fn current_model_version(&self) -> Option<String> {
|
||||
self.last_model_version
|
||||
.lock()
|
||||
.map(|g| g.clone())
|
||||
.unwrap_or(None)
|
||||
}
|
||||
|
||||
fn track_model_version(&self, current: &str) {
|
||||
let mut guard = match self.last_model_version.lock() {
|
||||
Ok(g) => g,
|
||||
Err(_) => return,
|
||||
};
|
||||
let changed = !matches!(guard.as_deref(), Some(prev) if prev == current);
|
||||
if changed {
|
||||
let previous = guard.clone();
|
||||
*guard = Some(current.to_string());
|
||||
self.model_version_changes.fetch_add(1, Ordering::Relaxed);
|
||||
tracing::info!(
|
||||
previous = previous.as_deref().unwrap_or("<none>"),
|
||||
current = current,
|
||||
"vlm_client model_version changed"
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl Default for AssessmentParser {
|
||||
fn default() -> Self {
|
||||
Self::new()
|
||||
}
|
||||
}
|
||||
|
||||
/// Wire-side parse target. Matches the production NanoLLM envelope
|
||||
/// per `description.md §8`. Required fields are non-`Option`; serde
|
||||
/// will refuse to deserialise without them. Optional fields default
|
||||
/// to empty.
|
||||
#[derive(Debug, Deserialize)]
|
||||
struct VlmAssessmentWire {
|
||||
label: VlmLabel,
|
||||
confidence: f32,
|
||||
#[serde(default)]
|
||||
evidence_spans: Vec<String>,
|
||||
#[serde(default)]
|
||||
reason: String,
|
||||
status: VlmStatus,
|
||||
latency_ms: u32,
|
||||
model_version: String,
|
||||
}
|
||||
|
||||
impl From<VlmAssessmentWire> for VlmAssessment {
|
||||
fn from(w: VlmAssessmentWire) -> Self {
|
||||
Self {
|
||||
label: w.label,
|
||||
confidence: w.confidence,
|
||||
evidence_spans: w.evidence_spans,
|
||||
reason: w.reason,
|
||||
status: w.status,
|
||||
latency_ms: w.latency_ms,
|
||||
model_version: w.model_version,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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 excerpt(raw: &[u8], cap: usize) -> String {
|
||||
let cap = cap.min(raw.len());
|
||||
let slice = &raw[..cap];
|
||||
let mut s = String::from_utf8_lossy(slice).into_owned();
|
||||
if raw.len() > cap {
|
||||
s.push_str(&format!("…[truncated, {} more bytes]", raw.len() - cap));
|
||||
}
|
||||
s
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
fn ok_response_bytes() -> Vec<u8> {
|
||||
let s = r#"{
|
||||
"label":"confirmed_concealed_position",
|
||||
"confidence":0.85,
|
||||
"evidence_spans":["foliage"],
|
||||
"reason":"match",
|
||||
"status":"ok",
|
||||
"latency_ms":42,
|
||||
"model_version":"VILA1.5-3B-int4"
|
||||
}"#;
|
||||
s.as_bytes().to_vec()
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn parses_valid_payload() {
|
||||
// Arrange
|
||||
let parser = AssessmentParser::new();
|
||||
|
||||
// Act
|
||||
let a = parser.parse(&ok_response_bytes());
|
||||
|
||||
// Assert
|
||||
assert_eq!(a.status, VlmStatus::Ok);
|
||||
assert_eq!(a.model_version, "VILA1.5-3B-int4");
|
||||
assert_eq!(parser.schema_invalid_count(), 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn missing_required_field_returns_schema_invalid() {
|
||||
// Arrange — drop `model_version` from the payload.
|
||||
let raw = br#"{
|
||||
"label":"confirmed_concealed_position",
|
||||
"confidence":0.85,
|
||||
"status":"ok",
|
||||
"latency_ms":42
|
||||
}"#;
|
||||
let parser = AssessmentParser::new();
|
||||
|
||||
// Act
|
||||
let a = parser.parse(raw);
|
||||
|
||||
// Assert
|
||||
assert_eq!(a.status, VlmStatus::SchemaInvalid);
|
||||
assert_eq!(parser.schema_invalid_count(), 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn excerpt_truncates_long_bodies() {
|
||||
// Arrange
|
||||
let raw = vec![b'a'; 8192];
|
||||
|
||||
// Act
|
||||
let s = excerpt(&raw, 16);
|
||||
|
||||
// Assert
|
||||
assert!(s.starts_with("aaaaaaaaaaaaaaaa"));
|
||||
assert!(s.contains("truncated"));
|
||||
}
|
||||
}
|
||||
@@ -23,9 +23,10 @@ use tokio::net::UnixStream;
|
||||
use tokio::sync::Mutex;
|
||||
use tokio::time::timeout;
|
||||
|
||||
use super::parser::AssessmentParser;
|
||||
use super::peer_cred::{check as check_peer, ExpectedPeer, PeerCredOutcome};
|
||||
use super::prompt::{self, Limits};
|
||||
use super::wire::{read_response, write_request, WireError};
|
||||
use super::wire::{read_response_raw, write_request, WireError};
|
||||
|
||||
/// Errors returned from `connect`.
|
||||
#[derive(Debug, thiserror::Error)]
|
||||
@@ -83,6 +84,7 @@ impl NanoLlmClientOptions {
|
||||
pub struct NanoLlmClient {
|
||||
inner: Arc<Mutex<Inner>>,
|
||||
options: Arc<NanoLlmClientOptions>,
|
||||
parser: Arc<AssessmentParser>,
|
||||
}
|
||||
|
||||
struct Inner {
|
||||
@@ -118,6 +120,7 @@ impl NanoLlmClient {
|
||||
Ok(Self {
|
||||
inner: Arc::new(Mutex::new(inner)),
|
||||
options: Arc::new(options),
|
||||
parser: Arc::new(AssessmentParser::new()),
|
||||
})
|
||||
}
|
||||
|
||||
@@ -125,6 +128,12 @@ impl NanoLlmClient {
|
||||
&self.options.socket_path
|
||||
}
|
||||
|
||||
/// Shared parser. Exposes schema-invalid + model-version counters
|
||||
/// for the health surface.
|
||||
pub fn parser(&self) -> Arc<AssessmentParser> {
|
||||
self.parser.clone()
|
||||
}
|
||||
|
||||
/// Latency samples snapshot (cloned). Caller computes p50/p99.
|
||||
pub async fn latency_samples(&self) -> Vec<Duration> {
|
||||
self.inner.lock().await.latency_samples.clone()
|
||||
@@ -179,7 +188,7 @@ impl NanoLlmClient {
|
||||
.expect("stream present after reconnect");
|
||||
match timeout(
|
||||
self.options.request_deadline,
|
||||
send_and_recv(stream, &prompt, &roi),
|
||||
send_and_recv(stream, &prompt, &roi, &self.parser),
|
||||
)
|
||||
.await
|
||||
{
|
||||
@@ -270,10 +279,14 @@ async fn send_and_recv(
|
||||
stream: &mut UnixStream,
|
||||
prompt: &str,
|
||||
roi: &[u8],
|
||||
parser: &AssessmentParser,
|
||||
) -> Result<VlmAssessment, WireError> {
|
||||
write_request(stream, prompt, roi).await?;
|
||||
let resp = read_response(stream).await?;
|
||||
Ok(resp)
|
||||
let body = read_response_raw(stream).await?;
|
||||
// Schema validation lives in `AssessmentParser::parse`, not the
|
||||
// wire layer. A JSON-broken or schema-invalid body returns
|
||||
// `VlmAssessment{ status: SchemaInvalid }` — NOT an `Err`.
|
||||
Ok(parser.parse(&body))
|
||||
}
|
||||
|
||||
fn push_latency(samples: &mut Vec<Duration>, d: Duration) {
|
||||
|
||||
@@ -14,6 +14,7 @@
|
||||
|
||||
use base64::Engine;
|
||||
use serde::{Deserialize, Serialize};
|
||||
#[cfg(test)]
|
||||
use shared::models::vlm::VlmAssessment;
|
||||
use tokio::io::{AsyncRead, AsyncReadExt, AsyncWrite, AsyncWriteExt};
|
||||
|
||||
@@ -64,7 +65,11 @@ pub async fn write_request<W: AsyncWrite + Unpin>(
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub async fn read_response<R: AsyncRead + Unpin>(r: &mut R) -> Result<VlmAssessment, WireError> {
|
||||
/// Read one length-prefixed frame body. The body is returned as raw
|
||||
/// bytes; JSON parsing is the [`crate::internal::parser`]'s job
|
||||
/// (AZ-674 §AC-2 — schema-invalid responses must be observable as
|
||||
/// `VlmAssessment{ status: SchemaInvalid }`, not as `Err`).
|
||||
pub async fn read_response_raw<R: AsyncRead + Unpin>(r: &mut R) -> Result<Vec<u8>, WireError> {
|
||||
let mut lenbuf = [0u8; 4];
|
||||
r.read_exact(&mut lenbuf).await?;
|
||||
let len = u32::from_be_bytes(lenbuf);
|
||||
@@ -76,6 +81,14 @@ pub async fn read_response<R: AsyncRead + Unpin>(r: &mut R) -> Result<VlmAssessm
|
||||
if n != body.len() {
|
||||
return Err(WireError::UnexpectedEof);
|
||||
}
|
||||
Ok(body)
|
||||
}
|
||||
|
||||
/// Legacy combined-read helper used by the in-tree wire-layer tests.
|
||||
/// Production code calls `read_response_raw` + `AssessmentParser::parse`.
|
||||
#[cfg(test)]
|
||||
pub async fn read_response<R: AsyncRead + Unpin>(r: &mut R) -> Result<VlmAssessment, WireError> {
|
||||
let body = read_response_raw(r).await?;
|
||||
let assessment: VlmAssessment = serde_json::from_slice(&body)?;
|
||||
Ok(assessment)
|
||||
}
|
||||
|
||||
@@ -21,6 +21,8 @@ mod internal;
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use enabled::VlmClient;
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use internal::parser::{AssessmentParser, DEFAULT_LOG_TRUNCATION_BYTES};
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use internal::peer_cred::ExpectedPeer;
|
||||
#[cfg(feature = "vlm")]
|
||||
pub use internal::prompt::Limits;
|
||||
|
||||
@@ -0,0 +1,203 @@
|
||||
//! AZ-674 acceptance criteria.
|
||||
//!
|
||||
//! AC-1 — valid response parses successfully (round-trip through the
|
||||
//! UDS fixture, verifying schema fields all survive).
|
||||
//! AC-2 — schema-invalid response returns `status: SchemaInvalid` and
|
||||
//! the schema-invalid counter increments.
|
||||
//! AC-3 — model_version change logged once; subsequent identical
|
||||
//! versions do NOT re-log (observed via the parser's `changes`
|
||||
//! counter, which is incremented exactly once per change).
|
||||
//! AC-4 — `VlmStatus` is exhaustive (compile-time check: this file
|
||||
//! contains a `match` over every variant with no `_` arm).
|
||||
|
||||
#![cfg(feature = "vlm")]
|
||||
|
||||
use std::path::PathBuf;
|
||||
|
||||
use shared::contracts::VlmProvider;
|
||||
use shared::models::vlm::{VlmLabel, VlmStatus};
|
||||
use tempfile::tempdir;
|
||||
use tokio::io::{AsyncReadExt, AsyncWriteExt};
|
||||
use tokio::net::UnixListener;
|
||||
use vlm_client::VlmClient;
|
||||
|
||||
async fn fixture_emitting(
|
||||
path: PathBuf,
|
||||
bodies: Vec<serde_json::Value>,
|
||||
) -> tokio::task::JoinHandle<()> {
|
||||
let listener = UnixListener::bind(&path).unwrap();
|
||||
tokio::spawn(async move {
|
||||
for body in bodies {
|
||||
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 bytes = serde_json::to_vec(&body).unwrap();
|
||||
let _ = s.write_all(&(bytes.len() as u32).to_be_bytes()).await;
|
||||
let _ = s.write_all(&bytes).await;
|
||||
let _ = s.flush().await;
|
||||
}
|
||||
})
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac1_valid_response_parses_successfully() {
|
||||
// Arrange
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
let body = serde_json::json!({
|
||||
"label": "confirmed_concealed_position",
|
||||
"confidence": 0.91,
|
||||
"evidence_spans": ["thicket"],
|
||||
"reason": "match",
|
||||
"status": "ok",
|
||||
"latency_ms": 42,
|
||||
"model_version": "VILA1.5-3B-int4"
|
||||
});
|
||||
let fixture = fixture_emitting(path.clone(), vec![body]).await;
|
||||
let client = VlmClient::open(&path).await.expect("connect");
|
||||
|
||||
// Act
|
||||
let a = client
|
||||
.assess(b"\xff\xd8\xff".to_vec(), "describe".into())
|
||||
.await
|
||||
.unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(a.status, VlmStatus::Ok);
|
||||
assert_eq!(a.label, VlmLabel::ConfirmedConcealedPosition);
|
||||
assert_eq!(a.model_version, "VILA1.5-3B-int4");
|
||||
assert_eq!(a.latency_ms, 42);
|
||||
assert_eq!(a.evidence_spans, vec!["thicket".to_string()]);
|
||||
|
||||
// Parser counters reflect the success path.
|
||||
let parser = client.inner().unwrap().parser();
|
||||
assert_eq!(parser.schema_invalid_count(), 0);
|
||||
assert_eq!(parser.model_version_changes(), 1);
|
||||
|
||||
fixture.await.unwrap();
|
||||
}
|
||||
|
||||
#[tokio::test]
|
||||
async fn ac2_schema_invalid_response_returns_schema_invalid_and_increments_counter() {
|
||||
// Arrange — fixture responds with valid JSON missing `model_version`.
|
||||
let dir = tempdir().unwrap();
|
||||
let path = dir.path().join("nanollm.sock");
|
||||
let bad_body = serde_json::json!({
|
||||
"label": "rejected",
|
||||
"confidence": 0.4,
|
||||
"status": "ok",
|
||||
"latency_ms": 5
|
||||
// model_version intentionally missing
|
||||
});
|
||||
let fixture = fixture_emitting(path.clone(), vec![bad_body]).await;
|
||||
let client = VlmClient::open(&path).await.expect("connect");
|
||||
|
||||
// Act
|
||||
let a = client.assess(b"r".to_vec(), "p".into()).await.unwrap();
|
||||
|
||||
// Assert
|
||||
assert_eq!(a.status, VlmStatus::SchemaInvalid);
|
||||
assert!(a.reason.starts_with("json:"), "got reason={}", a.reason);
|
||||
|
||||
let parser = client.inner().unwrap().parser();
|
||||
assert_eq!(parser.schema_invalid_count(), 1);
|
||||
assert_eq!(parser.model_version_changes(), 0);
|
||||
|
||||
fixture.await.unwrap();
|
||||
}
|
||||
|
||||
/// AC-3 is exercised at the parser level — the model-version tracker
|
||||
/// is a pure-state component that does not depend on the UDS layer.
|
||||
/// The integration path is verified by AC-1 (one happy-path round
|
||||
/// trip → parser sees one change event).
|
||||
#[test]
|
||||
fn ac3_model_version_change_logged_once_at_parser_level() {
|
||||
use vlm_client::AssessmentParser;
|
||||
|
||||
// Arrange
|
||||
let parser = AssessmentParser::new();
|
||||
let mk = |v: &str| {
|
||||
serde_json::to_vec(&serde_json::json!({
|
||||
"label": "rejected",
|
||||
"confidence": 0.5,
|
||||
"status": "ok",
|
||||
"latency_ms": 1,
|
||||
"model_version": v
|
||||
}))
|
||||
.unwrap()
|
||||
};
|
||||
|
||||
// Act — three responses: v1.0, v1.0 (no change), v1.1 (change).
|
||||
let _ = parser.parse(&mk("v1.0"));
|
||||
let _ = parser.parse(&mk("v1.0"));
|
||||
let _ = parser.parse(&mk("v1.1"));
|
||||
|
||||
// Assert — exactly 2 change events: None→v1.0 and v1.0→v1.1.
|
||||
assert_eq!(parser.model_version_changes(), 2);
|
||||
assert_eq!(parser.current_model_version().as_deref(), Some("v1.1"));
|
||||
}
|
||||
|
||||
/// Compile-time AC-4: this match must cover every `VlmStatus` variant
|
||||
/// without a `_` arm. Adding a new variant breaks the build until
|
||||
/// the consumer is updated.
|
||||
#[test]
|
||||
fn ac4_vlm_status_match_is_exhaustive() {
|
||||
// Arrange — synthesise one of each variant.
|
||||
let cases = [
|
||||
VlmStatus::Ok,
|
||||
VlmStatus::Inconclusive,
|
||||
VlmStatus::Timeout,
|
||||
VlmStatus::SchemaInvalid,
|
||||
VlmStatus::IpcError,
|
||||
VlmStatus::Disabled,
|
||||
];
|
||||
|
||||
// Act / Assert — every variant must produce a labelled outcome.
|
||||
for s in cases {
|
||||
let label: &'static str = match s {
|
||||
VlmStatus::Ok => "ok",
|
||||
VlmStatus::Inconclusive => "inconclusive",
|
||||
VlmStatus::Timeout => "timeout",
|
||||
VlmStatus::SchemaInvalid => "schema_invalid",
|
||||
VlmStatus::IpcError => "ipc_error",
|
||||
VlmStatus::Disabled => "disabled",
|
||||
};
|
||||
assert!(!label.is_empty());
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn schema_invalid_does_not_pollute_model_version_tracker() {
|
||||
use vlm_client::AssessmentParser;
|
||||
|
||||
// Arrange — one valid body followed by one truncated/invalid body.
|
||||
// The tracker must not regress to None on the second call.
|
||||
let parser = AssessmentParser::new();
|
||||
let good = serde_json::to_vec(&serde_json::json!({
|
||||
"label": "rejected",
|
||||
"confidence": 0.5,
|
||||
"status": "ok",
|
||||
"latency_ms": 1,
|
||||
"model_version": "v1.0"
|
||||
}))
|
||||
.unwrap();
|
||||
let bad = good[..good.len() - 10].to_vec();
|
||||
|
||||
// Act
|
||||
let r1 = parser.parse(&good);
|
||||
let r2 = parser.parse(&bad);
|
||||
|
||||
// Assert
|
||||
assert_eq!(r1.status, VlmStatus::Ok);
|
||||
assert_eq!(r2.status, VlmStatus::SchemaInvalid);
|
||||
assert_eq!(parser.model_version_changes(), 1);
|
||||
assert_eq!(parser.current_model_version().as_deref(), Some("v1.0"));
|
||||
assert_eq!(parser.schema_invalid_count(), 1);
|
||||
}
|
||||
Reference in New Issue
Block a user