[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>
2026-06-21 19:21:10 +00:00 · 2026-05-19 17:40:43 +03:00
parent b5cc0c321c
commit e56d428753
26 changed files with 2122 additions and 62 deletions
@@ -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(&region).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,
    }
 }