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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>
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).