mirror of https://github.com/azaion/autopilot.git synced 2026-06-21 14:11:11 +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

5.1 KiB

Raw Blame History

CI / CD Pipeline

Status: forward-looking design (Rust). Final pipeline file lands during build-system bring-up. The shape below describes the intent.

1. Goals

The pipeline must:

Build the autopilot Rust binary cross-compiled for aarch64-unknown-linux-gnu.
Run the full Rust test suite (unit + integration + replay-based) on every commit.
Run a hardware-in-loop conformance gate against an ArduPilot SITL instance (covers mavlink_layer + mission_executor).
Run a benchmark gate on representative target hardware (covers Tier 1 / Tier 2 / VLM / gimbal latency budgets — see architecture.md §7.6 Benchmark gate).
Sign and publish artefacts (binary + container image) on tagged releases.
Never auto-deploy to the airframe. Deployment is a human-driven operation tied to the suite's flight-gate convention (/run/azaion/in-flight).

2. Pipeline stages

Single Woodpecker pipeline, multi-stage. Stages run sequentially; a failed stage stops the run.

Stage	Purpose	Notes
fetch	Clone, restore Cargo cache	`cargo fetch` with a remote cache key.
lint	`cargo fmt --check`, `cargo clippy --all-targets --all-features -- -D warnings`	Hard fail on any warning.
unit-test	`cargo test --workspace` (host-arch)	Most logic is platform-independent; runs in parallel on host.
build-arm64	Cross-compile for `aarch64-unknown-linux-gnu`	`cross` or `cargo zigbuild` depending on Rust toolchain. Produces the production binary + a debug symbol artefact.
integration-test	Replay-based integration tests under emulation	Fixtures: pre-recorded RTSP clip, MAVLink replay, synthetic telemetry. No hardware required.
sitl-conformance	ArduPilot SITL conformance gate	Spins up ArduPilot SITL + autopilot binary in a container; runs a fixed mission script; asserts MAVLink command surface (per `architecture.md §7.7`) and geofence enforcement.
benchmark-gate (opt-in, manual / nightly)	Tier 1 / 2 / VLM / gimbal latency on real Jetson	Runs on a self-hosted Jetson Orin Nano runner. Asserts `architecture.md §6 NFR` budgets. Slow; not on every PR.
package	Build container image (Option B from `containerization.md`)	Multi-arch tag: `azaion/autopilot:<branch>-arm64`.
sign	Sign binary + image	Cosign for the image; OS-vendor signing flow for the binary if used in native deployment.
publish	Push image + binary to internal registry	Tagged builds only.

3. Artefacts

Artefact	Where	Retention
`autopilot` binary (aarch64)	internal artefact store	last 10 builds per branch; tagged builds kept indefinitely
Debug symbols (`.dwp`)	internal artefact store, separate path	matched to binary lifetime
Container image	internal Docker registry	last 10 dev builds; tagged builds kept indefinitely
Cosign signature	next to image	matched to image lifetime
Test logs	CI run	per Woodpecker retention
Benchmark gate report	internal artefact store (Markdown + JSON)	per-tag retention

4. Build matrix

Single matrix entry today:

Toolchain	Target	Tier-1 dep	VLM feature
Rust stable	`aarch64-unknown-linux-gnu`	`../detections` (Cython service consumed via gRPC; not built here)	`cargo --features vlm` (also `cargo` without — both must build)

The --features vlm and the no-feature path are both built and tested to enforce the optionality contract from architecture.md §7.6 Local VLM confirmation.

5. SITL conformance gate (in detail)

Stage runs in CI; produces a pass/fail signal that gates merge to dev.

Setup:

Start ArduPilot SITL in a container, listening on udp://0.0.0.0:14550.
Start autopilot binary configured for SITL endpoint.
Pre-load a fixture mission via the missions API mock (mission_client HTTP target).
Pre-load a fixture RTSP source (looped clip).
Mock the ../detections service with deterministic detections.

Assertions:

All MAVLink message kinds in architecture.md §7.7 succeed at least once.
Mission upload + start completes within the configured retry budget.
INCLUSION geofence violation triggers RTL.
EXCLUSION geofence violation triggers RTL (regression gate against the earlier silent-ignore behaviour).
Middle-waypoint POST + re-upload succeeds within ≤2 s.
Health endpoint returns green once steady state is reached.

6. Branch policy

Branch	Triggers	Required gates
feature branches (PR)	on push	fetch → lint → unit-test → build-arm64 → integration-test → sitl-conformance
`dev`	on merge	all PR gates + package
tagged release (`v*`)	on tag	all `dev` gates + sign + publish + benchmark-gate (manual approval)

main and dev are protected. Force-push is forbidden. Merges require a green pipeline.

7. Out of scope here

Airframe deployment automation (manual; tied to flight-gate).
Ground Station and ../detections pipelines (each owns its own).
AI training pipeline — ../_docs/12_ai_training.md.
Model-sync to the airframe (model-sync.service, suite-level — ../_docs/00_top_level_architecture.md).

5.1 KiB Raw Blame History