 Oleksandr Bezdieniezhnykh
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b5cc0c321c
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[AZ-666] [AZ-673] [AZ-648] ignored set + UDS VLM + mission FSM batch 5
ci/woodpecker/push/build-arm Pipeline failed
AZ-666 mapobjects_store:
- internal/ignored.rs (HashSet<(mgrs, class_group)> for O(1) suppression)
- internal/passes.rs (per-region PassTracker with observed-id set and
end-of-pass removed-candidate sweep)
- Classification::Ignored wired into classify; apply_decline +
is_ignored + pass_start + end_of_pass on MapObjectsStoreHandle
- new tests/ignored_and_sweep.rs (3 AC + 2 supplementary)
AZ-673 vlm_client:
- internal/peer_cred.rs (Linux SO_PEERCRED via libc getsockopt;
PeerCredOutcome::SkippedNonLinux on macOS dev hosts per
description.md §8)
- internal/prompt.rs (pre-send ROI size + format + prompt
non-emptiness validation)
- internal/wire.rs (length-prefixed JSON envelope with base64 ROI)
- internal/uds_client.rs (tokio UnixStream client; bounded
reconnect; hard-stop on peer-cred mismatch; per-request deadline)
- VlmClient with both eager (open/connect) and lazy (new) ctor
- workspace Cargo.toml: base64 + libc as workspace deps
AZ-648 mission_executor:
- internal/types.rs (Variant, MissionState, TransitionKey,
Telemetry, TransitionEvent, StepOutcome)
- internal/driver.rs (MissionDriver trait + DriverError +
DriverAction)
- internal/fsm.rs (variant-agnostic Transition + FsmCore + step_one
with per-transition retry budget keyed by TransitionKey)
- internal/multirotor.rs + internal/fixed_wing.rs (typed transition
tables; multirotor has Armed/TakeOff, fixed-wing parks in
WaitAuto for operator AUTO)
- public API: MissionExecutor::run spawns the FSM task and returns
a clone-safe MissionExecutorHandle (state, health, subscribe,
paused_reason, retry_count)
- new tests/state_machine.rs (AC-1..AC-4 via ScriptedDriver fake;
SITL conformance lands with AZ-649 telemetry forwarding)
Workspace: cargo fmt + clippy -D warnings clean; full
cargo test --workspace --all-features green (1 ignored = AZ-665
perf gate). Tasks moved todo/ → done/, autodev state set to batch
6 selection.
Refs: _docs/03_implementation/batch_05_cycle1_report.md
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-19 16:54:00 +03:00 |
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Oleksandr Bezdieniezhnykh
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69c0629350
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[AZ-643] [AZ-665] [AZ-672] mavlink+mapobjects+vlm batch 4
ci/woodpecker/push/build-arm Pipeline failed
AZ-643 mavlink_layer:
- ack demux on COMMAND_LONG/COMMAND_ACK with oneshot dispatch and
configurable deadline; MavlinkHandle::send_command + SendCommandError
- MAVLink-2 signing: Signer/Verifier built on SHA-256, key + timestamp
source, incompat-flag wiring in encoder, reject + counter in decoder
- new tests: tests/ack_demux.rs (3) + tests/signing.rs (5)
AZ-665 mapobjects_store:
- internal/h3_index.rs (h3o wrapper, cell_of, grid_disk, haversine)
- internal/store.rs (in-memory (cell -> Vec<MapObject>) hashmap with
k-ring classify and class-group resolution)
- public API: MapObjectsStoreHandle::classify(ClassifyInput) ->
Classification {New|Moved|Existing}
- AC1-4 in tests/classify.rs; AC5 perf gate (#[ignore], passes in
--release)
AZ-672 vlm_client + autopilot:
- DisabledVlmProvider in shared::contracts; VlmProvider::name() for
composition-root diagnostics
- vlm_client::VlmClient gated behind feature = "vlm"; placeholder
until AZ-673 lands the real NanoLLM IPC
- autopilot: vlm_client is now optional = true under feature vlm;
Runtime::select_vlm_provider picks DisabledVlmProvider when feature
off OR config.vlm.enabled = false
Workspace deps: +sha2 (mavlink signing), +h3o (mapobjects index).
Batch report: _docs/03_implementation/batch_04_cycle1_report.md
Co-authored-by: Cursor <cursoragent@cursor.com>
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2026-05-19 13:31:42 +03:00 |
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