mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 08:11:09 +00:00
Oleksandr Bezdieniezhnykh
e077d3bd15
ci/woodpecker/push/build-arm Pipeline failed
Stand up a production-target test runner on jetson-e2e and run the deferred cargo test --workspace for batch 19. Infra: - Dockerfile.test: ubuntu:22.04 + libopencv-dev + libav*-dev + libclang-dev + protobuf-compiler + rust 1.82.0 (rustfmt, clippy). Sets LIBCLANG_PATH so clang-sys can dlopen libclang under the opencv-rust clang-runtime path. - scripts/jetson-test.sh: rsync source to jetson-e2e, docker build, docker run cargo test --workspace --no-fail-fast. Workspace fix exposed by the gate: - Cargo.toml: enable opencv "clang-runtime" feature. Without it the workspace fails to build because clang-sys is shared between opencv-binding-generator and bindgen (via ffmpeg-sys-next) and the opencv generator panics with "a `libclang` shared library is not loaded on this thread" (opencv-rust GH issue #635). Batch-19 code bugs exposed by the gate (6 compile errors + 1 algo bug): - movement_detector::optical_flow: min_max_loc signature (opencv 0.98 expects Option<&mut f64> / Option<&mut Point>); data_mut() returns *mut u8 directly, not Result. RANSAC residual now filters by the inlier mask returned by find_homography (matches the docstring; was systematically over-reporting motion magnitude on synthetic pure-pan input). - semantic_analyzer::scoring::freshness: same data_mut() fix; stddev_f32 now takes &impl core::ToInputArray so it accepts the BoxedRef<Mat> that Mat::roi returns in opencv 0.98. Result: 391 tests passed across 58 binaries, 0 in-scope failures. Two pre-existing failures in frame_ingest (batch 16-18 scope) are NOT addressed here and are recorded as leftovers: - frame_ingest_cuvid_segv: HIGH severity production bug; libavcodec58 advertises h264_cuvid but libnvcuvid.so.1 is missing at runtime, the software fallback never fires, first send_packet SEGVs. - frame_ingest_publisher_timing_flake: LOW severity; Jetson-specific timing budget too tight for ac1_three_consumers_at_rate_lose_no_frames. Neither blocks batch 20 (movement_detector / semantic_analyzer next). Co-authored-by: Cursor <cursoragent@cursor.com>
145 lines
4.5 KiB
TOML
145 lines
4.5 KiB
TOML
[workspace]
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resolver = "2"
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members = [
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"crates/shared",
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"crates/autopilot",
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"crates/mavlink_layer",
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"crates/mission_client",
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"crates/frame_ingest",
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"crates/detection_client",
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"crates/movement_detector",
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"crates/semantic_analyzer",
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"crates/vlm_client",
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"crates/scan_controller",
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"crates/mapobjects_store",
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"crates/gimbal_controller",
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"crates/operator_bridge",
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"crates/mission_executor",
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"crates/telemetry_stream",
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]
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[workspace.package]
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edition = "2021"
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rust-version = "1.82"
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license = "Proprietary"
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publish = false
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authors = ["AZAION autopilot team"]
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[workspace.dependencies]
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# Async runtime
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tokio = { version = "1", features = ["rt-multi-thread", "macros", "sync", "time", "io-util", "net", "signal"] }
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# Foundational
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bytes = "1"
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anyhow = "1"
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thiserror = "1"
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async-trait = "0.1"
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once_cell = "1"
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# Serialisation
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serde = { version = "1", features = ["derive"] }
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serde_json = "1"
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toml = "0.8"
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# IDs and time
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uuid = { version = "1", features = ["v4", "serde"] }
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chrono = { version = "0.4", default-features = false, features = ["clock", "serde"] }
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# Observability
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tracing = "0.1"
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tracing-subscriber = { version = "0.3", features = ["env-filter", "json", "fmt"] }
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# CLI
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clap = { version = "4", features = ["derive", "env"] }
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# Health server
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axum = { version = "0.7", default-features = false, features = ["http1", "json", "tokio"] }
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tower = "0.5"
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hyper = { version = "1", features = ["server", "http1"] }
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# Networking / transports / schema
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reqwest = { version = "0.12", default-features = false, features = ["json", "rustls-tls", "gzip"] }
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jsonschema = { version = "0.18", default-features = false }
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tokio-serial = "5"
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# gRPC (operator-link transport — see telemetry_stream / detection_client)
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tonic = "0.14"
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tonic-prost = "0.14"
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prost = "0.14"
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prost-types = "0.14"
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tonic-prost-build = "0.14"
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protoc-bin-vendored = "3"
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tokio-stream = { version = "0.1", features = ["sync", "net"] }
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# Lock-free / sync helpers
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parking_lot = "0.12"
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# Crypto / hashing
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sha2 = "0.10"
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hmac = "0.12"
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# Wire encoding (VLM IPC)
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base64 = "0.22"
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# OS bindings (SO_PEERCRED on Linux)
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libc = "0.2"
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# Geospatial
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h3o = "0.7"
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# Computer vision (movement_detector ego-motion + semantic_analyzer freshness scoring).
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# `clang-runtime` is required because the workspace ALSO uses `bindgen`
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# (via `ffmpeg-sys-next`), and the opencv generator's static libclang
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# linkage conflicts with bindgen's clang-sys instance — symptom:
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# "a `libclang` shared library is not loaded on this thread" at build
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# time. See opencv-rust GH issue #635. The runtime feature switches
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# opencv-binding-generator to dlopen libclang via `LIBCLANG_PATH`,
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# resolving the conflict.
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opencv = { version = "0.98", default-features = false, features = ["calib3d", "imgproc", "video", "clang-runtime"] }
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# Graph data structures (semantic_analyzer primitive graph)
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petgraph = "0.8"
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# Multimedia (RTSP + H.264/265 decode for frame_ingest — see AZ-658).
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# Linked dynamically against the host FFmpeg via pkg-config.
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# `ffmpeg-sys-next` performs compile-time FFmpeg version detection
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# (sets `ffmpeg_4_4` / `ffmpeg_5_x` / `ffmpeg_8_x` cfg flags
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# automatically — see crates.io README), so this single dep pin
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# compiles against FFmpeg 3.4 through 8.x. The production Jetson
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# target (JetPack 6 / Ubuntu 22.04) ships FFmpeg 4.4; the macOS
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# dev box typically has 6.x or 7.x via Homebrew. Default features
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# pull in: codec (libavcodec-dev), device (libavdevice-dev), filter
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# (libavfilter-dev), format (libavformat-dev), software-resampling
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# (libswresample-dev), software-scaling (libswscale-dev).
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ffmpeg-next = "8.1"
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# Test scaffolding
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wiremock = "0.6"
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tempfile = "3"
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# Workspace-internal
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shared = { path = "crates/shared" }
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mavlink_layer = { path = "crates/mavlink_layer" }
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mission_client = { path = "crates/mission_client" }
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frame_ingest = { path = "crates/frame_ingest" }
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detection_client = { path = "crates/detection_client" }
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movement_detector = { path = "crates/movement_detector" }
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semantic_analyzer = { path = "crates/semantic_analyzer" }
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vlm_client = { path = "crates/vlm_client" }
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scan_controller = { path = "crates/scan_controller" }
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mapobjects_store = { path = "crates/mapobjects_store" }
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gimbal_controller = { path = "crates/gimbal_controller" }
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operator_bridge = { path = "crates/operator_bridge" }
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mission_executor = { path = "crates/mission_executor" }
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telemetry_stream = { path = "crates/telemetry_stream" }
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[profile.release]
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lto = "thin"
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codegen-units = 1
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strip = "symbols"
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opt-level = 3
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[profile.dev]
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opt-level = 0
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debug = true
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