mirror of
https://github.com/azaion/autopilot.git
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Oleksandr Bezdieniezhnykh
740bf37d76
Lands the second batch under epic AZ-626's implementation plan.
mavlink_layer (AZ-641 + AZ-642):
- Hand-rolled MAVLink v2 codec covering the §7.7 surface: HEARTBEAT,
SYS_STATUS, SET_MODE, ATTITUDE, GLOBAL_POSITION_INT, MISSION_* (7),
COMMAND_LONG, COMMAND_ACK, EXTENDED_SYS_STATE, STATUSTEXT (17 total).
- Streaming decoder demuxes arbitrary-sized byte arrivals, drops malformed
frames with typed parse-error counters (crc/truncated/unknown_id/seq_gap),
and surfaces sequence gaps without hard-failing the link.
- Encoder tracks the per-link tx_seq counter and applies the MAVLink v2
trailing-zero payload truncation rule.
- UDP and POSIX-serial transports behind a single async Transport trait;
the run loop owns transport open with bounded exponential backoff
(2 s serial / 5 s UDP cap) and a tokio::select! per-link read+write
loop.
- 1 Hz outbound HEARTBEAT scheduler + inbound-heartbeat watchdog that
fires LinkUp / LinkLost on a broadcast channel and feeds health detail
(connected, last_heartbeat_age_ms, signing_enabled, parse_errors).
mission_client (AZ-644):
- HTTPS GET /missions/{id} over rustls (no OpenSSL on the airframe).
- Bundled JSON Schema (crates/shared/contracts/mission-schema.json,
draft-07, additionalProperties:false) validates every response;
schema-invalid bodies surface as FetchError::SchemaInvalid with a
1 KiB sample of the raw body for offline analysis.
- Transient failures (timeout, 5xx, 429) retry with bounded exponential
backoff up to MissionClientOptions.max_attempts (default 5); permanent
failures (4xx, malformed URL) abort immediately.
- Health surface mirrors AC-1's contract: last_fetch_ts,
fetch_errors_total, schema_version, connection_state.
Caught and fixed before commit (NOT a code-review finding — caught by
the unit test that hand-computed CRC("123456789")): the hand-rolled
X.25 CRC accumulator was operating in u16 throughout. The MAVLink C
reference declares `tmp` as uint8_t, which silently truncates the
shifted-in bits. Round-trip tests passed (encoder and decoder shared
the bug); a real MAVLink peer would have rejected every frame. Fixed
by mirroring the C reference: `let mut tmp: u8 = …; tmp ^= tmp.wrapping_shl(4);`.
Added a regression test asserting CRC("123456789") == 0x6F91 against
pymavlink's reference value (NOT the textbook 0x29B1 — MAVLink uses a
byte-wise variant, not the bit-reflected CCITT).
AC verification (full detail in
_docs/03_implementation/batch_02_cycle1_report.md):
AZ-641: AC-1 + AC-3 + AC-4 verified via UDP loopback integration tests;
AC-2 (serial) requires a socat pty pair and runs in the SITL/CI
tier (test exists as #[ignore]-marked stub).
AZ-642: AC-1 + AC-2 + AC-3 verified via exhaustive codec round-trip and
decoder negative-path tests; AC-4 (SITL round-trip) requires
ArduPilot SITL — the CRC fix above means the codec is now
wire-correct, ready for the sitl-conformance Woodpecker stage.
AZ-644: all four ACs verified via wiremock-driven integration tests.
Workspace gates green:
- cargo check --workspace clean
- cargo check --workspace --no-default-features clean
- cargo fmt --all -- --check clean
- cargo clippy --workspace --all-targets -- -D warnings clean
- cargo test --workspace pass (1 expected ignore)
Layering invariants from module-layout.md hold: mavlink_layer and
mission_client are Layer 2 actors importing only `shared`; no sibling
Layer-2 imports; MavlinkHandle implements shared::contracts::MavlinkSink.
Jira: AZ-641, AZ-642, AZ-644 transitioned To Do → In Progress at batch
start; the matching In Testing transitions follow this commit.
Co-authored-by: Cursor <cursoragent@cursor.com>
91 lines
2.4 KiB
Rust
91 lines
2.4 KiB
Rust
//! Bounded exponential backoff helper used by the transport reconnect loop.
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//!
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//! Caller pattern:
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//! ```text
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//! let mut backoff = ExponentialBackoff::new(base, cap);
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//! loop {
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//! match try_open().await {
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//! Ok(t) => break t,
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//! Err(e) => {
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//! tracing::warn!(error = %e, "open failed");
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//! tokio::time::sleep(backoff.next_delay()).await;
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//! }
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//! }
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//! }
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//! ```
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use std::time::Duration;
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#[derive(Debug, Clone)]
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pub struct ExponentialBackoff {
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base: Duration,
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cap: Duration,
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attempt: u32,
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}
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impl ExponentialBackoff {
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pub fn new(base: Duration, cap: Duration) -> Self {
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assert!(base > Duration::ZERO, "backoff base must be positive");
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assert!(cap >= base, "backoff cap must be >= base");
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Self {
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base,
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cap,
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attempt: 0,
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}
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}
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/// The next delay to sleep for. Doubles each call, capped at `cap`.
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pub fn next_delay(&mut self) -> Duration {
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let exp = self.attempt.min(31);
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let delay = self
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.base
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.checked_mul(1u32 << exp)
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.unwrap_or(self.cap)
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.min(self.cap);
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self.attempt = self.attempt.saturating_add(1);
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delay
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}
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pub fn reset(&mut self) {
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self.attempt = 0;
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}
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pub fn attempts(&self) -> u32 {
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self.attempt
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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 doubles_until_cap() {
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// Arrange
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let mut b = ExponentialBackoff::new(Duration::from_millis(100), Duration::from_secs(2));
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// Act / Assert
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assert_eq!(b.next_delay(), Duration::from_millis(100));
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assert_eq!(b.next_delay(), Duration::from_millis(200));
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assert_eq!(b.next_delay(), Duration::from_millis(400));
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assert_eq!(b.next_delay(), Duration::from_millis(800));
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assert_eq!(b.next_delay(), Duration::from_millis(1600));
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assert_eq!(b.next_delay(), Duration::from_secs(2)); // capped
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assert_eq!(b.next_delay(), Duration::from_secs(2)); // still capped
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}
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#[test]
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fn reset_returns_to_base() {
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// Arrange
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let mut b = ExponentialBackoff::new(Duration::from_millis(50), Duration::from_secs(1));
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let _ = b.next_delay();
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let _ = b.next_delay();
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// Act
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b.reset();
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// Assert
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assert_eq!(b.next_delay(), Duration::from_millis(50));
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}
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}
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