 Oleksandr Bezdieniezhnykh
|
e56d428753
|
[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>
|
2026-05-19 17:40:43 +03:00 |
|
|
Oleksandr Bezdieniezhnykh
|
69c0629350
|
[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>
|
2026-05-19 13:31:42 +03:00 |
|