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>
71 lines
1.6 KiB
Rust
71 lines
1.6 KiB
Rust
//! Monotonic and wall-clock binding.
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//!
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//! `MonoClock` is authoritative for tick budgets, telemetry-skew compensation,
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//! and inter-frame correlation. `WallClock` is GPS-bound when locked and NTP at
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//! boot. Drift > 200 ms surfaces as yellow health on the affected component.
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use std::time::Instant;
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#[derive(Debug, Clone, Copy, PartialEq, Eq)]
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pub enum ClockSource {
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Gnss,
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Host,
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Coast,
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}
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/// Process-monotonic clock — never goes backwards, immune to NTP adjustments.
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#[derive(Debug, Clone, Copy)]
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pub struct MonoClock {
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boot: Instant,
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}
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impl MonoClock {
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pub fn new() -> Self {
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Self {
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boot: Instant::now(),
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}
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}
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/// Nanoseconds since this clock was constructed.
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pub fn elapsed_ns(&self) -> u64 {
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self.boot.elapsed().as_nanos() as u64
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}
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}
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impl Default for MonoClock {
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fn default() -> Self {
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Self::new()
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}
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}
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/// Wall-clock binding — produced from `MonoClock` via the active `ClockSource`.
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/// Drift beyond the threshold MUST be surfaced as a yellow health detail.
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#[derive(Debug, Clone)]
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pub struct WallClock {
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pub source: ClockSource,
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}
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impl WallClock {
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pub fn new(source: ClockSource) -> Self {
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Self { source }
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}
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pub fn now(&self) -> chrono::DateTime<chrono::Utc> {
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chrono::Utc::now()
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn mono_clock_is_monotonic() {
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let clock = MonoClock::new();
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let t1 = clock.elapsed_ns();
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let t2 = clock.elapsed_ns();
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assert!(t2 >= t1, "monotonic clock went backwards: {t1} -> {t2}");
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}
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}
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