3 Commits

Author	SHA1	Message	Date
Oleksandr Bezdieniezhnykh	0a87c0f716	[AZ-645] [AZ-646] [AZ-647] mission_client: middle-waypoint POST + mapobjects pull/push ... Batch 3 of greenfield Step 7 — mission_client epic AZ-638 close-out. AZ-645 (Middle-waypoint POST) - post_middle_waypoint(mission_id, &Mission) -> Result<MissionUpdateAck, PostError> - Bounded retry (default 3 attempts) shared with the rest of missions_api - Health: last_middle_waypoint_post_status (ok/error) AZ-646 (Pre-flight MapObjects pull) - pull_mapobjects(mission_id) -> Result<MapObjectsBundle, PullError> - Schema-validated against bundled shared/contracts/mapobjects-bundle.json - Typed errors: Unreachable / SchemaInvalid / MaxRetriesExceeded / Internal - Health: mapobjects_pull_state, last_mapobjects_pull_ts AZ-647 (Post-flight push + durable disk queue) - push_mapobjects_diff(mission_id, MapObjectsDiff) -> PushReport - recover_pending_pushes() -> Vec<PushReport> for crash recovery - Write-ahead atomic-rename persistence under ${state_dir}/mapobjects_push/ - Per-endpoint independent retry: observations + ignored_items - Partial success rewrites the disk file with only the failing portion - Health: mapobjects_push_pending, last_push_ts, per-endpoint last error Infrastructure - Schemas: shared/contracts/mapobjects-{bundle,observations,ignored}.json - Restructured schema/ into mission.rs + mapobjects.rs sub-modules - New mapobjects_sync/ (pull, push, queue) - workspace dep tempfile=3; mission_client dev-deps add tempfile + chrono Tests - 12/12 ACs verified locally (4 AZ-645 + 4 AZ-646 + 5 AZ-647) - mission_client suite: 15 unit + 18 integration = 33 tests pass - AZ-646 AC-4 proxy: 1000-object + 1000-ignored bundle within 30s - AZ-647 AC-5 proxy: 5000-obs + 500-ignored push within 2min Code review verdict: PASS_WITH_WARNINGS (inline). Cumulative review (K=3 trigger) PASS_WITH_WARNINGS — full report in _docs/03_implementation/cumulative_review_batches_01-03_cycle1_report.md. Open follow-ups (non-blocking): - module-layout.md: rename push_mapobjects -> push_mapobjects_diff (Step 13) - ExponentialBackoff still duplicated across crates; promote to shared::retry when the third caller lands (likely detection_client AZ-660/661) - state_dir default is relative; composition root must override Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-19 12:54:15 +03:00
Oleksandr Bezdieniezhnykh	740bf37d76	[AZ-641] [AZ-642] [AZ-644] mavlink transport + codec + mission pull ... Lands the second batch under epic AZ-626's implementation plan. mavlink_layer (AZ-641 + AZ-642): - Hand-rolled MAVLink v2 codec covering the §7.7 surface: HEARTBEAT, SYS_STATUS, SET_MODE, ATTITUDE, GLOBAL_POSITION_INT, MISSION_* (7), COMMAND_LONG, COMMAND_ACK, EXTENDED_SYS_STATE, STATUSTEXT (17 total). - Streaming decoder demuxes arbitrary-sized byte arrivals, drops malformed frames with typed parse-error counters (crc/truncated/unknown_id/seq_gap), and surfaces sequence gaps without hard-failing the link. - Encoder tracks the per-link tx_seq counter and applies the MAVLink v2 trailing-zero payload truncation rule. - UDP and POSIX-serial transports behind a single async Transport trait; the run loop owns transport open with bounded exponential backoff (2 s serial / 5 s UDP cap) and a tokio::select! per-link read+write loop. - 1 Hz outbound HEARTBEAT scheduler + inbound-heartbeat watchdog that fires LinkUp / LinkLost on a broadcast channel and feeds health detail (connected, last_heartbeat_age_ms, signing_enabled, parse_errors). mission_client (AZ-644): - HTTPS GET /missions/{id} over rustls (no OpenSSL on the airframe). - Bundled JSON Schema (crates/shared/contracts/mission-schema.json, draft-07, additionalProperties:false) validates every response; schema-invalid bodies surface as FetchError::SchemaInvalid with a 1 KiB sample of the raw body for offline analysis. - Transient failures (timeout, 5xx, 429) retry with bounded exponential backoff up to MissionClientOptions.max_attempts (default 5); permanent failures (4xx, malformed URL) abort immediately. - Health surface mirrors AC-1's contract: last_fetch_ts, fetch_errors_total, schema_version, connection_state. Caught and fixed before commit (NOT a code-review finding — caught by the unit test that hand-computed CRC("123456789")): the hand-rolled X.25 CRC accumulator was operating in u16 throughout. The MAVLink C reference declares `tmp` as uint8_t, which silently truncates the shifted-in bits. Round-trip tests passed (encoder and decoder shared the bug); a real MAVLink peer would have rejected every frame. Fixed by mirroring the C reference: `let mut tmp: u8 = …; tmp ^= tmp.wrapping_shl(4);`. Added a regression test asserting CRC("123456789") == 0x6F91 against pymavlink's reference value (NOT the textbook 0x29B1 — MAVLink uses a byte-wise variant, not the bit-reflected CCITT). AC verification (full detail in _docs/03_implementation/batch_02_cycle1_report.md): AZ-641: AC-1 + AC-3 + AC-4 verified via UDP loopback integration tests; AC-2 (serial) requires a socat pty pair and runs in the SITL/CI tier (test exists as #[ignore]-marked stub). AZ-642: AC-1 + AC-2 + AC-3 verified via exhaustive codec round-trip and decoder negative-path tests; AC-4 (SITL round-trip) requires ArduPilot SITL — the CRC fix above means the codec is now wire-correct, ready for the sitl-conformance Woodpecker stage. AZ-644: all four ACs verified via wiremock-driven integration tests. Workspace gates green: - cargo check --workspace clean - cargo check --workspace --no-default-features clean - cargo fmt --all -- --check clean - cargo clippy --workspace --all-targets -- -D warnings clean - cargo test --workspace pass (1 expected ignore) Layering invariants from module-layout.md hold: mavlink_layer and mission_client are Layer 2 actors importing only `shared`; no sibling Layer-2 imports; MavlinkHandle implements shared::contracts::MavlinkSink. Jira: AZ-641, AZ-642, AZ-644 transitioned To Do → In Progress at batch start; the matching In Testing transitions follow this commit. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-19 12:29:49 +03:00
Oleksandr Bezdieniezhnykh	a1ce3a6903	[AZ-640] Bootstrap Rust workspace, CI/Docker, observability scaffold ... 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>	2026-05-19 11:52:40 +03:00