mirror of https://github.com/azaion/autopilot.git synced 2026-06-21 08:21:10 +00:00

Files

T

Oleksandr Bezdieniezhnykh bc40ea7300 [AZ-626] Decompose complete: 47 tasks + docs + module layout

Greenfield Steps 1-6 baseline for the autopilot rewrite from legacy
Qt/C++ to a Rust workspace.

- Remove legacy Qt/C++ tree (ai_controller, drone_controller,
  misc/camera, python_scaffold, root Dockerfile, autopilot.pro,
  legacy main.py / requirements.txt).
- Add _docs/00_problem (problem, restrictions, acceptance criteria,
  security approach, input data + fixtures).
- Add _docs/01_solution/solution_draft01.
- Add _docs/02_document (architecture, system-flows, data_model,
  glossary, decision-rationale, deployment, 13 component descriptions,
  tests/ specs, FINAL_report, module-layout).
- Add _docs/02_tasks/todo with 47 task specs (AZ-640..AZ-686, one
  bootstrap + 46 component tasks) and _dependencies_table.md.
- Add .cursor/rules/artifact-srp.mdc (single-responsibility rule for
  canonical _docs artifacts).
- Track autodev state in _docs/_autodev_state.md (Step 6 completed,
  ready for Step 7 Implement).

Jira: bootstrap AZ-626; component epics AZ-627..AZ-639; tasks
AZ-640..AZ-686. Total complexity 173 points across 12 epics.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-19 11:02:01 +03:00

4.7 KiB

Raw Permalink Blame History

Solution

The solution for autopilot is captured in full in _docs/02_document/architecture.md, _docs/02_document/system-flows.md, _docs/02_document/data_model.md, _docs/02_document/decision-rationale.md, the 13 per-component specs under _docs/02_document/components/, and _docs/02_document/glossary.md. These were produced before the canonical greenfield Problem step and were confirmed by the user on 2026-05-17.

This file is the canonical greenfield Solution pointer — it exists so downstream skills that expect _docs/01_solution/solution.md (test-spec, decompose, plan-resume) have a single entry point, and it summarises the decision shape; it does not duplicate the architecture.

What is the solution

A single Rust binary on Jetson Orin Nano Super (aarch64) that runs the mission, drives the gimbal in a two-level scan loop, ingests RTSP, delegates Tier 1 detection to ../detections over bi-directional gRPC, runs Tier 2 + optional Tier 3 (VLM) locally, talks to a remote operator over modem via an always-on telemetry stream, and bracket-synchronises a local H3-indexed MapObjects store with the central missions API. The dominant pattern is a deterministic typed state machine — ZoomedOut, ZoomedIn { roi, hold_started_at }, TargetFollow { target_id, started_at } — coordinating a small set of Tokio actor components.

Component breakdown

13 components organised into four planes (see architecture.md §2, §3 and per-component specs):

Perception (data plane in): frame_ingest, detection_client, movement_detector, semantic_analyzer, vlm_client (optional).
Decision + Memory: scan_controller, mapobjects_store.
Action (data plane out): gimbal_controller, operator_bridge, mission_executor, mavlink_layer, mission_client.
Telemetry plane (always-on, parallel): telemetry_stream.

Per-component design contracts (inputs, outputs, state, failure modes, NFRs) live in _docs/02_document/components/<name>/description.md.

Tech stack rationale (one-line summary per choice; full rationale in `decision-rationale.md`)

Layer	Selection	Rationale
Language	Rust	Memory safety, performance, single-binary deployment, strong typing for the deterministic state machine.
Tier 1 detector	YOLO26 + YOLOE-26 FP16 TensorRT (in `../detections`)	Best fit with acceptance criteria + existing export pipeline. Not owned by autopilot.
Tier 2 analyzer	Primitive graph + lightweight ROI CNN	Fast, explainable, data-efficient.
Movement detection	OpenCV optical flow + telemetry; learned-CV fallback per Q14	Addresses moving-camera constraint directly; benchmark-gated.
VLM runtime	NanoLLM / VILA1.5-3B (optional, local IPC)	Local multimodal path that matches the no-cloud requirement.
MAVLink transport	Hand-rolled (Rust)	Eliminates the largest current dependency-risk item; command surface is small (`architecture.md §7.7`).
Gimbal protocol	ViewPro A40 vendor protocol over UDP	Matches the deployed camera.
Inter-component IPC	Tokio channels / actors	Idiomatic Rust async.
External IPC (VLM)	Unix-domain socket + peer-credential check	Local-only authorisation.
MapObjects engine	TBD (SQLite + H3 / KV / in-memory + snapshot)	Open question Q3; does not block decomposition of the rest of the system.
Observability	`tracing` + JSON logs to stdout	Scraped by the deployment's log-shipping stack.
Build	`cargo` cross-compile for `aarch64-unknown-linux-gnu`	See `_docs/02_document/deployment/ci_cd_pipeline.md`.

Reading order for downstream skills

_docs/02_document/architecture.md — start with §0 Synopsis, then §3 Components, §5 Architectural Principles, §6 NFR Targets, §7 Detailed Design (in section order).
_docs/02_document/system-flows.md — flow-by-flow walkthroughs; cross-referenced from the architecture sections.
_docs/02_document/data_model.md — canonical entities (Frame, Detection, POI, VlmAssessment, MapObject, IgnoredItem, MissionItem, ...).
_docs/02_document/components/<name>/description.md — one per component; consumed by /decompose to map tasks to components.
_docs/02_document/glossary.md — project-specific terms (also user-confirmed 2026-05-17).
_docs/02_document/decision-rationale.md — load-bearing research and decision evidence (the equivalent of research/ Mode A + Mode B outputs).

Open questions / open decisions

Tracked in _docs/02_document/architecture.md §8 Open Questions (Q1–Q14). None of them block initial implementation decomposition; each component spec calls out the questions it depends on and what the temporary contract is until the question resolves.

4.7 KiB Raw Permalink Blame History Unescape Escape