Add the operator-command dispatcher behind a typed CommandAck:
60 s per-command-id idempotency cache, surfaced-POI registry with
unknown_poi_id + expired gates, BIT-degraded ack severity check, and
SafetyOverride forwarding to mission_executor with structured audit
log (redacts signature + session_token).
Cross-layer wiring goes through three new traits in shared::contracts
(ScanCommandRouter, MissionSafetyRouter, BitReportSeverityLookup) so
operator_bridge stays free of direct scan_controller / mission_executor
imports. scan_controller::ScanControllerHandle implements the scan
router; a new mission_executor::SafetyDispatchHandle wraps the BIT
ack channel + battery monitor handle and implements the safety router;
BitControllerHandle gains a bounded (16-entry) report-severity cache
for the lookup trait.
scan_controller also picks up ConfirmPoi handling: PoiQueue::confirm
removes the entry and SubmitOutcome::Confirmed carries the typed
(target_mgrs, target_class) hint for AZ-684/AZ-686 downstream.
Tests: 9 new integration tests in operator_bridge/tests/dispatcher.rs
cover AZ-680 AC-1..AC-5 + AZ-681 AC-1..AC-4. scan_controller adds 2
ConfirmPoi tests. All modified-crate suites green; one pre-existing
mission_executor state-machine test flake (already documented in
_docs/_process_leftovers) updated to note ac1 also affected.
Co-authored-by: Cursor <cursoragent@cursor.com>
Geofence (INCLUSION+EXCLUSION, ≤500 ms detect→RTL), battery
thresholds (RTL@25%/land@15% + signed override), middle-waypoint
re-upload (CLEAR_ALL→upload→SET_CURRENT(0)), and post-flight
mapobjects push trigger. Adds production MAVLink command issuers
for both geofence and battery failsafe families.
Implements 6 ACs with 12 integration tests + module unit tests;
full workspace test suite green. See batch_09_cycle1_report.md
for AC coverage and known limitations.
Co-authored-by: Cursor <cursoragent@cursor.com>
AZ-650 (mission_executor pre-flight Built-In Test):
- BitEvaluator trait + BitItemStatus { Pass, Degraded, Fail, Skipped }
+ BitReport + BitOverall fusion. Pluggable per-item evaluators so
the composition root decides which dependencies are wired today.
- BitController owns evaluator list + mpsc ack channel + sticky-pass
+ ack deadline. Publishes bit_ok via tokio watch — composition root
pipes it into the telemetry projection where the existing FSM
bit_ok guard already consumes it (no FSM changes needed).
- BitState { Idle, Pass, AwaitingAck { report_id }, Failed { reason } }
with broadcast::Sender<BitEvent> for operator-side observability.
Sticky-pass semantics: once Pass is reached (directly or via signed
ack on a Degraded report), the controller stops re-evaluating —
BIT is a one-shot pre-flight gate, not a continuous monitor.
- BitDegradedAck arrives pre-validated by operator_bridge; the
controller only matches report_id and applies the operator id to
the audit log.
- Concrete evaluators landed today (3 of 12 spec items, the rest
depend on components still in todo/):
- StateDirFreeSpaceEvaluator (dir creatable/readable; statvfs is
documented follow-up).
- WallClockBoundEvaluator (chrono::Utc::now vs configurable bound).
- MissionLoadedEvaluator (waypoint count via Arc<Mutex<usize>>).
- MapObjectsSyncedEvaluator (maps SyncState -> BIT status per Q9).
Tests:
- ac1_all_pass_proceeds, ac2_fail_blocks_transition,
ac3_degraded_requires_signed_ack (+ mismatched_ack supplement),
ac4_degraded_ack_timeout_fails_the_bit — all 4 ACs green.
- Pure next_state table covered by lib unit tests.
- Per-evaluator unit tests for Pass/Fail/Degraded branches.
Quality gates:
- cargo fmt: clean.
- cargo clippy -p mission_executor --tests -- -D warnings: 0 warns.
- cargo test --workspace: all green.
- Pre-existing flake in state_machine::ac3_bounded_retry_then_success
(batch 7 report) remains pre-existing — passes on rerun.
Co-authored-by: Cursor <cursoragent@cursor.com>
Oleksandr Bezdieniezhnykh