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Oleksandr Bezdieniezhnykh
745ab806f1
ci/woodpecker/push/build-arm Pipeline failed
AZ-657 (frame_ingest): RTSP session lifecycle FSM with bounded exponential backoff (1 s → 30 s cap), AI-lock plumb through watch::Sender that stamps every emitted Frame, and SPS/PPS hard-fail via OpenError::UnsupportedProfile. The actual RTSP wire client is abstracted behind an RtspTransport trait so AZ-658 can pin retina/FFmpeg alongside the decoder; the lifecycle FSM itself is production code today. tokio::select! around every transport call so a hung open/read cannot wedge graceful shutdown. 10 unit + 5 integration tests cover happy path, bounded reconnect, stream- drop reopen, hard-fail no-retry, and AI-lock toggle. AZ-682 (scan_controller): typed ScanState (ZoomedOut / ZoomedIn / TargetFollow) with a complete pure transition catalogue, every (state, trigger) → next_state from description.md §1/§4/§5 covered; spec-disallowed combos return TransitionOutcome.accepted = false with RejectReason::UnsupportedTransition (loud, not silent). Frame- rate floor monitor with hysteresis suppresses ZoomedOut → ZoomedIn while sustained FPS < 10 fps per description.md §5/§6. Rolling 100-sample tick-latency window surfaces p99; health goes yellow above the 10 ms budget. 18 unit + 5 integration tests cover the catalogue, fps-floor activate/clear, and tick-latency budget. Cumulative review (batches 10-12): all OPEN findings carried forward without regressions. See _docs/03_implementation/batch_12_cycle1_report.md §6. Notes: pre-existing dead-code error in autopilot::Runtime:: vlm_provider_name (origin batch 4) blocks workspace -D warnings clippy. Recorded in _docs/_process_leftovers/ — not in batch 12 scope. Co-authored-by: Cursor <cursoragent@cursor.com>
autopilot
Onboard mission executor for the AZAION reconnaissance UAV. Single Rust binary; runs on
NVIDIA Jetson Orin Nano Super (aarch64). See _docs/02_document/architecture.md for the
authoritative system design.
Layout
crates/
shared/ # canonical DTOs, config, error, health, observability, clock, contracts
autopilot/ # binary crate — runtime composition root + /health endpoint
mavlink_layer/ # hand-rolled MAVLink v2 transport
mission_client/ # missions API REST client + MapObjects sync
frame_ingest/ # RTSP pull + decode
detection_client/ # bi-directional gRPC to ../detections
movement_detector/ # ego-motion-compensated residual-motion clustering
semantic_analyzer/ # Tier 2 — primitive graph + ROI CNN
vlm_client/ # Tier 3 — optional NanoLLM/VILA local IPC
mapobjects_store/ # H3-indexed on-device map + ignored items
gimbal_controller/ # ViewPro A40 UDP control
scan_controller/ # central typed state machine (ZoomedOut/ZoomedIn/TargetFollow)
operator_bridge/ # POI surface + operator command authentication
mission_executor/ # multirotor + fixed-wing FSMs + geofence + failsafe
telemetry_stream/ # always-on uplink to Ground Station
config/ # TOML config per environment (dev / staging / prod)
deploy/systemd/ # on-airframe native systemd unit (Option A)
fixtures/ # replay clips (RTSP, MAVLink, missions, detections)
tests/e2e/ # workspace-level blackbox scenarios
benches/ # NFR benchmark-gate harness
Build
# Host-arch build + tests
cargo build --workspace
cargo test --workspace --locked
# Optional VLM feature path
cargo build --workspace --features vlm
# No-default-features path (enforces the VLM optionality contract)
cargo build --workspace --no-default-features
cargo test --workspace --no-default-features
# aarch64 cross-build (CI uses cargo-zigbuild; locally `cross` also works)
cargo install --locked cargo-zigbuild
rustup target add aarch64-unknown-linux-gnu
cargo zigbuild --release --target aarch64-unknown-linux-gnu --workspace
Run (dev)
cp .env.example .env
docker compose up -d
# Then inspect:
curl -s http://127.0.0.1:8080/health | jq
Documentation
The full document tree lives under _docs/. Start with:
_docs/00_problem/problem.md— the problem statement_docs/02_document/architecture.md— system architecture_docs/02_document/system-flows.md— sequence diagrams_docs/02_document/components/<name>/description.md— per-component specs_docs/02_document/deployment/{containerization,ci_cd_pipeline,observability}.md
CI
.woodpecker.yml drives the pipeline. Stages: fetch → lint → unit-test → build-arm64 → build-no-vlm → integration-test → sitl-conformance → security-scan → package → sign → publish → benchmark-gate (opt-in).