mirror of
https://github.com/azaion/autopilot.git
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Oleksandr Bezdieniezhnykh
a1ce3a6903
ci/woodpecker/push/build-arm Pipeline failed
Lands the first task of the implementation epic AZ-626: a cargo workspace
with 14 crates (shared + autopilot binary + 12 component crates), a
multi-stage Dockerfile + dev/test compose stacks, a Woodpecker CI pipeline,
the on-airframe systemd unit with flight-gate wiring, three environment
TOML configs, and the canonical entity catalogue from data_model.md as
`shared::models`.
Per-AC verification (full detail in
_docs/03_implementation/batch_01_cycle1_report.md):
- AC-1 cargo check --workspace clean
- AC-2 cargo test --workspace passes; per-crate it_compiles() <0.01 s
- AC-6 cargo build/test --no-default-features clean; VlmClient default
impl returns VlmAssessment::disabled()
- AC-9 tracing-subscriber emits JSON logs with ts/level/target/fields
- AC-10 runtime::ensure_state_directories creates mapobjects/, audit/,
pending_pushes/ under storage.state_dir
Deferred to external infra (artifacts written, verification re-runs in CI
and in downstream tasks):
- AC-3 Woodpecker runner; CI yml in place
- AC-4 docker-compose mocks land with AZ-660/AZ-644/AZ-675
- AC-5 SITL conformance lands with AZ-641/AZ-648/AZ-652
- AC-7 aarch64 cross-compile via cargo-zigbuild stage
- AC-8 systemd unit (Linux + systemd host)
Layering invariants from module-layout.md hold: shared (L1) imports
nothing; Layer 2 actor crates import only shared; Layer 3 coordinators
(operator_bridge, mission_executor) import only their documented Layer 2
deps; Layer 4 (scan_controller) imports its documented Layer 2 + Layer 3
deps; the autopilot binary (L5) is the only consumer of every component.
cargo fmt --all --check + cargo clippy --all-targets -- -D warnings both
clean. Jira AZ-640 transitioned to In Progress at the start of this batch;
the matching In Testing transition follows this commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
62 lines
1.9 KiB
Markdown
62 lines
1.9 KiB
Markdown
# autopilot — on-airframe install (Jetson Orin Nano Super)
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Native systemd deployment per `_docs/02_document/deployment/containerization.md §3`.
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## Prerequisites
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- Jetson Orin Nano Super 8 GB with JetPack-bundled Ubuntu 22.04 (pinned).
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- Network access to the suite-internal `missions` and `ground-station` services.
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- `/dev/ttyUSB0` wired to ArduPilot (or `serial:///dev/ttyAMA0` / UDP — adjust `config.toml`).
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- ViewPro A40 reachable via RTSP + UDP control.
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## Install steps
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1. Copy the aarch64 binary from CI artefacts:
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```bash
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sudo install -m 0755 -o root -g root autopilot /usr/local/bin/autopilot
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```
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2. Create user, state directory, and config tree:
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```bash
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sudo groupadd --system autopilot
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sudo useradd --system --gid autopilot --shell /usr/sbin/nologin autopilot
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sudo install -d -o autopilot -g autopilot -m 0750 /var/lib/autopilot
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sudo install -d -o root -g root -m 0755 /etc/azaion/autopilot
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sudo install -m 0640 autopilot.prod.toml /etc/azaion/autopilot/config.toml
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sudo install -m 0600 secrets.env /etc/azaion/autopilot/secrets.env
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```
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3. Install the systemd unit:
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```bash
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sudo install -m 0644 deploy/systemd/autopilot.service /etc/systemd/system/autopilot.service
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sudo systemctl daemon-reload
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sudo systemctl enable --now autopilot.service
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```
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4. Verify:
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```bash
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systemctl status autopilot
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curl -s http://127.0.0.1:8080/health | jq
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```
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## Flight-gate contract
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The unit's `ExecStartPre` creates `/run/azaion/in-flight`; `ExecStopPost` removes it.
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`model-sync.service` (suite-level) honours this marker and defers any model swap
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while the autopilot is running. Do not delete the marker manually mid-flight.
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## Rollback
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The previous binary is left at `/usr/local/bin/autopilot.bak` by the rollout
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script. To roll back:
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```bash
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sudo systemctl stop autopilot
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sudo mv /usr/local/bin/autopilot.bak /usr/local/bin/autopilot
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sudo systemctl start autopilot
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```
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