 Oleksandr Bezdieniezhnykh
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e56d428753
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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>
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2026-05-19 17:40:43 +03:00 |
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