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Oleksandr Bezdieniezhnykh
2bcd4a8059
AZ-651 (mission_executor lost-link ladder):
- LostLinkLadder pure-logic state machine (LinkOk -> Degraded -> Lost
-> LinkLostInFollow + MavlinkLost branch). Configurable thresholds
via LostLinkConfig.
- LostLinkCommandIssuer trait + MavlinkCommandIssuer production impl
emitting MAV_CMD_NAV_RETURN_TO_LAUNCH via MavlinkHandle::send_command.
- LostLinkDriver task wires the ladder to operator-link watch, MAVLink
LinkEvent broadcast, and optional target-follow signal. On RTL,
driver calls the issuer THEN MissionExecutorHandle::failsafe_trigger.
- failsafe_trigger(LinkLost | LinkLostInFollow) short-circuits FlyMission
-> Land via direct FSM state mutation + TransitionEvent emission;
Paused state is intentionally NOT overridden.
- Tests: 4/4 ACs locally green (degraded-no-rtl; lost-fires-once;
follow-grace; mavlink-loss-no-rtl) plus driver + FSM integration.
AZ-668 (mapobjects_store persistence):
- Snapshot serializable shape + Store::{to_snapshot,from_snapshot}
round trip.
- MapObjectsPersistence async trait + JsonSnapshotEngine default impl
(write to .tmp, sync_all, atomic rename, best-effort parent fsync).
- PersistenceError::{Corrupt, SchemaMismatch} surfaces explicit errors
on bad blob; PersistenceMetrics tracks last_snapshot_ts,
snapshot_size_bytes, snapshot_errors_total.
- MapObjectsStore::from_snapshot factory for crash recovery from the
composition root.
- Tests: 4/4 ACs locally green (round-trip; atomic rename ignores
partial .tmp; crash recovery preserves pending; corruption returns
explicit error) plus schema-mismatch + metrics smoke checks.
Quality gates:
- cargo fmt: clean.
- cargo clippy -p mission_executor -p mapobjects_store --tests: 0 warns.
- cargo test --workspace: all green.
Co-authored-by: Cursor <cursoragent@cursor.com>
27 lines
737 B
TOML
27 lines
737 B
TOML
[package]
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name = "mapobjects_store"
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version = "0.1.0"
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edition.workspace = true
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rust-version.workspace = true
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license.workspace = true
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publish.workspace = true
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authors.workspace = true
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[dependencies]
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shared = { workspace = true }
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tokio = { workspace = true, features = ["fs"] }
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tracing = { workspace = true }
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serde = { workspace = true }
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serde_json = { workspace = true }
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h3o = { workspace = true }
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chrono = { workspace = true }
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uuid = { workspace = true }
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thiserror = { workspace = true }
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async-trait = { workspace = true }
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[dev-dependencies]
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tempfile = { workspace = true }
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# H3 spatial index lives in `internal::h3_index`. Engine plug points (Q3)
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# materialise in AZ-668; ignored-suppression in AZ-666; hydrate / pending in AZ-667.
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