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Oleksandr Bezdieniezhnykh
740bf37d76
Lands the second batch under epic AZ-626's implementation plan.
mavlink_layer (AZ-641 + AZ-642):
- Hand-rolled MAVLink v2 codec covering the §7.7 surface: HEARTBEAT,
SYS_STATUS, SET_MODE, ATTITUDE, GLOBAL_POSITION_INT, MISSION_* (7),
COMMAND_LONG, COMMAND_ACK, EXTENDED_SYS_STATE, STATUSTEXT (17 total).
- Streaming decoder demuxes arbitrary-sized byte arrivals, drops malformed
frames with typed parse-error counters (crc/truncated/unknown_id/seq_gap),
and surfaces sequence gaps without hard-failing the link.
- Encoder tracks the per-link tx_seq counter and applies the MAVLink v2
trailing-zero payload truncation rule.
- UDP and POSIX-serial transports behind a single async Transport trait;
the run loop owns transport open with bounded exponential backoff
(2 s serial / 5 s UDP cap) and a tokio::select! per-link read+write
loop.
- 1 Hz outbound HEARTBEAT scheduler + inbound-heartbeat watchdog that
fires LinkUp / LinkLost on a broadcast channel and feeds health detail
(connected, last_heartbeat_age_ms, signing_enabled, parse_errors).
mission_client (AZ-644):
- HTTPS GET /missions/{id} over rustls (no OpenSSL on the airframe).
- Bundled JSON Schema (crates/shared/contracts/mission-schema.json,
draft-07, additionalProperties:false) validates every response;
schema-invalid bodies surface as FetchError::SchemaInvalid with a
1 KiB sample of the raw body for offline analysis.
- Transient failures (timeout, 5xx, 429) retry with bounded exponential
backoff up to MissionClientOptions.max_attempts (default 5); permanent
failures (4xx, malformed URL) abort immediately.
- Health surface mirrors AC-1's contract: last_fetch_ts,
fetch_errors_total, schema_version, connection_state.
Caught and fixed before commit (NOT a code-review finding — caught by
the unit test that hand-computed CRC("123456789")): the hand-rolled
X.25 CRC accumulator was operating in u16 throughout. The MAVLink C
reference declares `tmp` as uint8_t, which silently truncates the
shifted-in bits. Round-trip tests passed (encoder and decoder shared
the bug); a real MAVLink peer would have rejected every frame. Fixed
by mirroring the C reference: `let mut tmp: u8 = …; tmp ^= tmp.wrapping_shl(4);`.
Added a regression test asserting CRC("123456789") == 0x6F91 against
pymavlink's reference value (NOT the textbook 0x29B1 — MAVLink uses a
byte-wise variant, not the bit-reflected CCITT).
AC verification (full detail in
_docs/03_implementation/batch_02_cycle1_report.md):
AZ-641: AC-1 + AC-3 + AC-4 verified via UDP loopback integration tests;
AC-2 (serial) requires a socat pty pair and runs in the SITL/CI
tier (test exists as #[ignore]-marked stub).
AZ-642: AC-1 + AC-2 + AC-3 verified via exhaustive codec round-trip and
decoder negative-path tests; AC-4 (SITL round-trip) requires
ArduPilot SITL — the CRC fix above means the codec is now
wire-correct, ready for the sitl-conformance Woodpecker stage.
AZ-644: all four ACs verified via wiremock-driven integration tests.
Workspace gates green:
- cargo check --workspace clean
- cargo check --workspace --no-default-features clean
- cargo fmt --all -- --check clean
- cargo clippy --workspace --all-targets -- -D warnings clean
- cargo test --workspace pass (1 expected ignore)
Layering invariants from module-layout.md hold: mavlink_layer and
mission_client are Layer 2 actors importing only `shared`; no sibling
Layer-2 imports; MavlinkHandle implements shared::contracts::MavlinkSink.
Jira: AZ-641, AZ-642, AZ-644 transitioned To Do → In Progress at batch
start; the matching In Testing transitions follow this commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
83 lines
2.9 KiB
JSON
83 lines
2.9 KiB
JSON
{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"$id": "https://azaion.dev/schemas/autopilot/mission-schema.json",
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"title": "Mission",
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"description": "Wire contract for missions returned by the external `missions` API and pulled by autopilot at mission start. Owner: external `missions` repo (extraction location TBD per architecture.md §8 Q5). This file is the bundled copy used by `mission_client::pull_mission`.",
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"type": "object",
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"required": ["mission_id", "schema_version", "items", "geofences", "return_point"],
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"additionalProperties": false,
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"properties": {
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"mission_id": {
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"type": "string",
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"description": "UUID v4 string identifying the mission.",
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"pattern": "^[0-9a-fA-F]{8}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{12}$"
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},
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"schema_version": {
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"type": "string",
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"description": "Semver of the mission-schema; `mission_client` rejects mismatching majors.",
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"pattern": "^[0-9]+\\.[0-9]+\\.[0-9]+$"
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},
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"items": {
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"type": "array",
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"description": "Business-level mission items, per data_model.md §MissionItem. Translated to MAVLink waypoints by `mission_executor`.",
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"minItems": 1,
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"items": { "$ref": "#/definitions/MissionItem" }
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},
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"geofences": {
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"type": "array",
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"items": { "$ref": "#/definitions/Geofence" }
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},
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"return_point": { "$ref": "#/definitions/Coordinate" }
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},
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"definitions": {
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"Coordinate": {
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"type": "object",
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"required": ["latitude", "longitude", "altitude_m"],
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"additionalProperties": false,
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"properties": {
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"latitude": { "type": "number", "minimum": -90.0, "maximum": 90.0 },
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"longitude": { "type": "number", "minimum": -180.0, "maximum": 180.0 },
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"altitude_m": { "type": "number" }
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}
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},
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"Geofence": {
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"type": "object",
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"required": ["kind", "vertices"],
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"additionalProperties": false,
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"properties": {
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"kind": { "type": "string", "enum": ["INCLUSION", "EXCLUSION"] },
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"vertices": {
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"type": "array",
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"minItems": 3,
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"items": { "$ref": "#/definitions/Coordinate" }
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}
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}
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},
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"MissionItem": {
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"type": "object",
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"required": ["id", "kind"],
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"additionalProperties": false,
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"properties": {
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"id": {
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"type": "string",
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"pattern": "^[0-9a-fA-F]{8}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{4}-[0-9a-fA-F]{12}$"
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},
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"kind": {
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"type": "string",
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"enum": ["waypoint", "search", "region_search", "return", "target_follow_breakpoint"]
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},
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"at": { "$ref": "#/definitions/Coordinate" },
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"region": {
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"type": "array",
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"items": { "$ref": "#/definitions/Coordinate" }
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},
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"cruise_speed_mps": { "type": "number", "minimum": 0.0 },
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"target_classes": {
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"type": "array",
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"items": { "type": "string" }
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}
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}
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}
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}
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}
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