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>
78 lines
2.9 KiB
Markdown
78 lines
2.9 KiB
Markdown
# autopilot
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Onboard mission executor for the AZAION reconnaissance UAV. Single Rust binary; runs on
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NVIDIA Jetson Orin Nano Super (aarch64). See `_docs/02_document/architecture.md` for the
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authoritative system design.
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## Layout
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```text
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crates/
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shared/ # canonical DTOs, config, error, health, observability, clock, contracts
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autopilot/ # binary crate — runtime composition root + /health endpoint
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mavlink_layer/ # hand-rolled MAVLink v2 transport
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mission_client/ # missions API REST client + MapObjects sync
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frame_ingest/ # RTSP pull + decode
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detection_client/ # bi-directional gRPC to ../detections
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movement_detector/ # ego-motion-compensated residual-motion clustering
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semantic_analyzer/ # Tier 2 — primitive graph + ROI CNN
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vlm_client/ # Tier 3 — optional NanoLLM/VILA local IPC
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mapobjects_store/ # H3-indexed on-device map + ignored items
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gimbal_controller/ # ViewPro A40 UDP control
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scan_controller/ # central typed state machine (ZoomedOut/ZoomedIn/TargetFollow)
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operator_bridge/ # POI surface + operator command authentication
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mission_executor/ # multirotor + fixed-wing FSMs + geofence + failsafe
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telemetry_stream/ # always-on uplink to Ground Station
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config/ # TOML config per environment (dev / staging / prod)
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deploy/systemd/ # on-airframe native systemd unit (Option A)
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fixtures/ # replay clips (RTSP, MAVLink, missions, detections)
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tests/e2e/ # workspace-level blackbox scenarios
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benches/ # NFR benchmark-gate harness
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```
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## Build
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```bash
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# Host-arch build + tests
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cargo build --workspace
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cargo test --workspace --locked
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# Optional VLM feature path
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cargo build --workspace --features vlm
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# No-default-features path (enforces the VLM optionality contract)
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cargo build --workspace --no-default-features
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cargo test --workspace --no-default-features
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# aarch64 cross-build (CI uses cargo-zigbuild; locally `cross` also works)
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cargo install --locked cargo-zigbuild
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rustup target add aarch64-unknown-linux-gnu
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cargo zigbuild --release --target aarch64-unknown-linux-gnu --workspace
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```
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## Run (dev)
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```bash
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cp .env.example .env
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docker compose up -d
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# Then inspect:
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curl -s http://127.0.0.1:8080/health | jq
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```
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## Documentation
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The full document tree lives under `_docs/`. Start with:
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- `_docs/00_problem/problem.md` — the problem statement
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- `_docs/02_document/architecture.md` — system architecture
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- `_docs/02_document/system-flows.md` — sequence diagrams
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- `_docs/02_document/components/<name>/description.md` — per-component specs
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- `_docs/02_document/deployment/{containerization,ci_cd_pipeline,observability}.md`
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## CI
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`.woodpecker.yml` drives the pipeline. Stages: `fetch → lint → unit-test →
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build-arm64 → build-no-vlm → integration-test → sitl-conformance → security-scan
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→ package → sign → publish → benchmark-gate (opt-in)`.
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