Stand up a production-target test runner on jetson-e2e and run the
deferred cargo test --workspace for batch 19.
Infra:
- Dockerfile.test: ubuntu:22.04 + libopencv-dev + libav*-dev +
libclang-dev + protobuf-compiler + rust 1.82.0 (rustfmt, clippy).
Sets LIBCLANG_PATH so clang-sys can dlopen libclang under the
opencv-rust clang-runtime path.
- scripts/jetson-test.sh: rsync source to jetson-e2e, docker build,
docker run cargo test --workspace --no-fail-fast.
Workspace fix exposed by the gate:
- Cargo.toml: enable opencv "clang-runtime" feature. Without it the
workspace fails to build because clang-sys is shared between
opencv-binding-generator and bindgen (via ffmpeg-sys-next) and the
opencv generator panics with "a `libclang` shared library is not
loaded on this thread" (opencv-rust GH issue #635).
Batch-19 code bugs exposed by the gate (6 compile errors + 1 algo bug):
- movement_detector::optical_flow: min_max_loc signature (opencv 0.98
expects Option<&mut f64> / Option<&mut Point>); data_mut() returns
*mut u8 directly, not Result. RANSAC residual now filters by the
inlier mask returned by find_homography (matches the docstring; was
systematically over-reporting motion magnitude on synthetic
pure-pan input).
- semantic_analyzer::scoring::freshness: same data_mut() fix;
stddev_f32 now takes &impl core::ToInputArray so it accepts the
BoxedRef<Mat> that Mat::roi returns in opencv 0.98.
Result: 391 tests passed across 58 binaries, 0 in-scope failures.
Two pre-existing failures in frame_ingest (batch 16-18 scope) are
NOT addressed here and are recorded as leftovers:
- frame_ingest_cuvid_segv: HIGH severity production bug; libavcodec58
advertises h264_cuvid but libnvcuvid.so.1 is missing at runtime, the
software fallback never fires, first send_packet SEGVs.
- frame_ingest_publisher_timing_flake: LOW severity; Jetson-specific
timing budget too tight for ac1_three_consumers_at_rate_lose_no_frames.
Neither blocks batch 20 (movement_detector / semantic_analyzer next).
Co-authored-by: Cursor <cursoragent@cursor.com>
Lands the first task of the implementation epic AZ-626: a cargo workspace
with 14 crates (shared + autopilot binary + 12 component crates), a
multi-stage Dockerfile + dev/test compose stacks, a Woodpecker CI pipeline,
the on-airframe systemd unit with flight-gate wiring, three environment
TOML configs, and the canonical entity catalogue from data_model.md as
`shared::models`.
Per-AC verification (full detail in
_docs/03_implementation/batch_01_cycle1_report.md):
- AC-1 cargo check --workspace clean
- AC-2 cargo test --workspace passes; per-crate it_compiles() <0.01 s
- AC-6 cargo build/test --no-default-features clean; VlmClient default
impl returns VlmAssessment::disabled()
- AC-9 tracing-subscriber emits JSON logs with ts/level/target/fields
- AC-10 runtime::ensure_state_directories creates mapobjects/, audit/,
pending_pushes/ under storage.state_dir
Deferred to external infra (artifacts written, verification re-runs in CI
and in downstream tasks):
- AC-3 Woodpecker runner; CI yml in place
- AC-4 docker-compose mocks land with AZ-660/AZ-644/AZ-675
- AC-5 SITL conformance lands with AZ-641/AZ-648/AZ-652
- AC-7 aarch64 cross-compile via cargo-zigbuild stage
- AC-8 systemd unit (Linux + systemd host)
Layering invariants from module-layout.md hold: shared (L1) imports
nothing; Layer 2 actor crates import only shared; Layer 3 coordinators
(operator_bridge, mission_executor) import only their documented Layer 2
deps; Layer 4 (scan_controller) imports its documented Layer 2 + Layer 3
deps; the autopilot binary (L5) is the only consumer of every component.
cargo fmt --all --check + cargo clippy --all-targets -- -D warnings both
clean. Jira AZ-640 transitioned to In Progress at the start of this batch;
the matching In Testing transition follows this commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh