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[AZ-640] Bootstrap Rust workspace, CI/Docker, observability scaffold

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>

2026-05-19 11:52:40 +03:00

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autopilot — on-airframe install (Jetson Orin Nano Super)

Native systemd deployment per _docs/02_document/deployment/containerization.md §3.

Prerequisites

Jetson Orin Nano Super 8 GB with JetPack-bundled Ubuntu 22.04 (pinned).
Network access to the suite-internal missions and ground-station services.
/dev/ttyUSB0 wired to ArduPilot (or serial:///dev/ttyAMA0 / UDP — adjust config.toml).
ViewPro A40 reachable via RTSP + UDP control.

Install steps

Copy the aarch64 binary from CI artefacts:

sudo install -m 0755 -o root -g root autopilot /usr/local/bin/autopilot

Create user, state directory, and config tree:

sudo groupadd --system autopilot
sudo useradd  --system --gid autopilot --shell /usr/sbin/nologin autopilot
sudo install -d -o autopilot -g autopilot -m 0750 /var/lib/autopilot
sudo install -d -o root      -g root      -m 0755 /etc/azaion/autopilot
sudo install -m 0640 autopilot.prod.toml /etc/azaion/autopilot/config.toml
sudo install -m 0600 secrets.env         /etc/azaion/autopilot/secrets.env

Install the systemd unit:

sudo install -m 0644 deploy/systemd/autopilot.service /etc/systemd/system/autopilot.service
sudo systemctl daemon-reload
sudo systemctl enable --now autopilot.service

Verify:

systemctl status autopilot
curl -s http://127.0.0.1:8080/health | jq

Flight-gate contract

The unit's ExecStartPre creates /run/azaion/in-flight; ExecStopPost removes it. model-sync.service (suite-level) honours this marker and defers any model swap while the autopilot is running. Do not delete the marker manually mid-flight.

Rollback

The previous binary is left at /usr/local/bin/autopilot.bak by the rollout script. To roll back:

sudo systemctl stop autopilot
sudo mv /usr/local/bin/autopilot.bak /usr/local/bin/autopilot
sudo systemctl start autopilot

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