mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 13:21:10 +00:00
Oleksandr Bezdieniezhnykh
251ebed1c2
Wires a real ffmpeg-next 8.1 decoder into the frame_ingest lifecycle loop. NVDEC is probed at runtime via h264_cuvid / hevc_cuvid; CUDA-less hosts transparently fall back to software h264 / hevc. Each decoded frame is stamped with capture_ts (taken at packet receipt) and decode_ts (taken after decode returns) so movement_detector sees accurate frame-arrival times. Single-frame decode errors are counted toward decode_errors_total and dropped; the stream is never aborted. Adds new public API on FrameIngestHandle: decoder_backend(), decode_errors_total(), frames_decoded_total(), decode_ms_first_frame(), decode_ms_p50(), decode_ms_p99(). Integration tests under crates/frame_ingest/tests/decoder_pipeline.rs cover AC-1, AC-3, AC-4 end-to-end through the real FfmpegDecoder using libx264-encoded synthetic streams; AC-2 positive (NVDEC selection) is opt-in via --ignored on a CUDA host. AZ-657 lifecycle tests retained via a StubDecoder. Co-authored-by: Cursor <cursoragent@cursor.com>
124 lines
3.3 KiB
TOML
124 lines
3.3 KiB
TOML
[workspace]
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resolver = "2"
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members = [
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"crates/shared",
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"crates/autopilot",
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"crates/mavlink_layer",
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"crates/mission_client",
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"crates/frame_ingest",
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"crates/detection_client",
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"crates/movement_detector",
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"crates/semantic_analyzer",
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"crates/vlm_client",
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"crates/scan_controller",
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"crates/mapobjects_store",
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"crates/gimbal_controller",
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"crates/operator_bridge",
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"crates/mission_executor",
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"crates/telemetry_stream",
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]
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[workspace.package]
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edition = "2021"
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rust-version = "1.82"
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license = "Proprietary"
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publish = false
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authors = ["AZAION autopilot team"]
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[workspace.dependencies]
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# Async runtime
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tokio = { version = "1", features = ["rt-multi-thread", "macros", "sync", "time", "io-util", "net", "signal"] }
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# Foundational
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bytes = "1"
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anyhow = "1"
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thiserror = "1"
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async-trait = "0.1"
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once_cell = "1"
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# Serialisation
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serde = { version = "1", features = ["derive"] }
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serde_json = "1"
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toml = "0.8"
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# IDs and time
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uuid = { version = "1", features = ["v4", "serde"] }
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chrono = { version = "0.4", default-features = false, features = ["clock", "serde"] }
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# Observability
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tracing = "0.1"
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tracing-subscriber = { version = "0.3", features = ["env-filter", "json", "fmt"] }
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# CLI
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clap = { version = "4", features = ["derive", "env"] }
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# Health server
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axum = { version = "0.7", default-features = false, features = ["http1", "json", "tokio"] }
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tower = "0.5"
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hyper = { version = "1", features = ["server", "http1"] }
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# Networking / transports / schema
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reqwest = { version = "0.12", default-features = false, features = ["json", "rustls-tls", "gzip"] }
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jsonschema = { version = "0.18", default-features = false }
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tokio-serial = "5"
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# gRPC (operator-link transport — see telemetry_stream / detection_client)
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tonic = "0.14"
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tonic-prost = "0.14"
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prost = "0.14"
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prost-types = "0.14"
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tonic-prost-build = "0.14"
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protoc-bin-vendored = "3"
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tokio-stream = { version = "0.1", features = ["sync", "net"] }
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# Lock-free / sync helpers
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parking_lot = "0.12"
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# Crypto / hashing
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sha2 = "0.10"
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hmac = "0.12"
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# Wire encoding (VLM IPC)
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base64 = "0.22"
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# OS bindings (SO_PEERCRED on Linux)
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libc = "0.2"
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# Geospatial
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h3o = "0.7"
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# Multimedia (RTSP + H.264/265 decode for frame_ingest — see AZ-658).
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# Linked dynamically against the host FFmpeg 8.x install (libavcodec /
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# libavformat / libavutil / libswscale / libswresample) via pkg-config.
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ffmpeg-next = "8.1"
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# Test scaffolding
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wiremock = "0.6"
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tempfile = "3"
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# Workspace-internal
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shared = { path = "crates/shared" }
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mavlink_layer = { path = "crates/mavlink_layer" }
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mission_client = { path = "crates/mission_client" }
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frame_ingest = { path = "crates/frame_ingest" }
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detection_client = { path = "crates/detection_client" }
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movement_detector = { path = "crates/movement_detector" }
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semantic_analyzer = { path = "crates/semantic_analyzer" }
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vlm_client = { path = "crates/vlm_client" }
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scan_controller = { path = "crates/scan_controller" }
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mapobjects_store = { path = "crates/mapobjects_store" }
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gimbal_controller = { path = "crates/gimbal_controller" }
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operator_bridge = { path = "crates/operator_bridge" }
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mission_executor = { path = "crates/mission_executor" }
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telemetry_stream = { path = "crates/telemetry_stream" }
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[profile.release]
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lto = "thin"
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codegen-units = 1
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strip = "symbols"
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opt-level = 3
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[profile.dev]
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opt-level = 0
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debug = true
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