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Oleksandr Bezdieniezhnykh
8a4bd00526
AZ-650 (mission_executor pre-flight Built-In Test):
- BitEvaluator trait + BitItemStatus { Pass, Degraded, Fail, Skipped }
+ BitReport + BitOverall fusion. Pluggable per-item evaluators so
the composition root decides which dependencies are wired today.
- BitController owns evaluator list + mpsc ack channel + sticky-pass
+ ack deadline. Publishes bit_ok via tokio watch — composition root
pipes it into the telemetry projection where the existing FSM
bit_ok guard already consumes it (no FSM changes needed).
- BitState { Idle, Pass, AwaitingAck { report_id }, Failed { reason } }
with broadcast::Sender<BitEvent> for operator-side observability.
Sticky-pass semantics: once Pass is reached (directly or via signed
ack on a Degraded report), the controller stops re-evaluating —
BIT is a one-shot pre-flight gate, not a continuous monitor.
- BitDegradedAck arrives pre-validated by operator_bridge; the
controller only matches report_id and applies the operator id to
the audit log.
- Concrete evaluators landed today (3 of 12 spec items, the rest
depend on components still in todo/):
- StateDirFreeSpaceEvaluator (dir creatable/readable; statvfs is
documented follow-up).
- WallClockBoundEvaluator (chrono::Utc::now vs configurable bound).
- MissionLoadedEvaluator (waypoint count via Arc<Mutex<usize>>).
- MapObjectsSyncedEvaluator (maps SyncState -> BIT status per Q9).
Tests:
- ac1_all_pass_proceeds, ac2_fail_blocks_transition,
ac3_degraded_requires_signed_ack (+ mismatched_ack supplement),
ac4_degraded_ack_timeout_fails_the_bit — all 4 ACs green.
- Pure next_state table covered by lib unit tests.
- Per-evaluator unit tests for Pass/Fail/Degraded branches.
Quality gates:
- cargo fmt: clean.
- cargo clippy -p mission_executor --tests -- -D warnings: 0 warns.
- cargo test --workspace: all green.
- Pre-existing flake in state_machine::ac3_bounded_retry_then_success
(batch 7 report) remains pre-existing — passes on rerun.
Co-authored-by: Cursor <cursoragent@cursor.com>
25 lines
612 B
TOML
25 lines
612 B
TOML
[package]
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name = "mission_executor"
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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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mavlink_layer = { workspace = true }
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mission_client = { workspace = true }
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mapobjects_store = { workspace = true }
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tokio = { workspace = true }
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tracing = { workspace = true }
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serde = { workspace = true }
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thiserror = { workspace = true }
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async-trait = { workspace = true }
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chrono = { workspace = true }
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uuid = { workspace = true }
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[dev-dependencies]
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tempfile = { workspace = true }
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