mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 10:11:09 +00:00
Oleksandr Bezdieniezhnykh
e077d3bd15
ci/woodpecker/push/build-arm Pipeline failed
Stand up a production-target test runner on jetson-e2e and run the deferred cargo test --workspace for batch 19. Infra: - Dockerfile.test: ubuntu:22.04 + libopencv-dev + libav*-dev + libclang-dev + protobuf-compiler + rust 1.82.0 (rustfmt, clippy). Sets LIBCLANG_PATH so clang-sys can dlopen libclang under the opencv-rust clang-runtime path. - scripts/jetson-test.sh: rsync source to jetson-e2e, docker build, docker run cargo test --workspace --no-fail-fast. Workspace fix exposed by the gate: - Cargo.toml: enable opencv "clang-runtime" feature. Without it the workspace fails to build because clang-sys is shared between opencv-binding-generator and bindgen (via ffmpeg-sys-next) and the opencv generator panics with "a `libclang` shared library is not loaded on this thread" (opencv-rust GH issue #635). Batch-19 code bugs exposed by the gate (6 compile errors + 1 algo bug): - movement_detector::optical_flow: min_max_loc signature (opencv 0.98 expects Option<&mut f64> / Option<&mut Point>); data_mut() returns *mut u8 directly, not Result. RANSAC residual now filters by the inlier mask returned by find_homography (matches the docstring; was systematically over-reporting motion magnitude on synthetic pure-pan input). - semantic_analyzer::scoring::freshness: same data_mut() fix; stddev_f32 now takes &impl core::ToInputArray so it accepts the BoxedRef<Mat> that Mat::roi returns in opencv 0.98. Result: 391 tests passed across 58 binaries, 0 in-scope failures. Two pre-existing failures in frame_ingest (batch 16-18 scope) are NOT addressed here and are recorded as leftovers: - frame_ingest_cuvid_segv: HIGH severity production bug; libavcodec58 advertises h264_cuvid but libnvcuvid.so.1 is missing at runtime, the software fallback never fires, first send_packet SEGVs. - frame_ingest_publisher_timing_flake: LOW severity; Jetson-specific timing budget too tight for ac1_three_consumers_at_rate_lose_no_frames. Neither blocks batch 20 (movement_detector / semantic_analyzer next). Co-authored-by: Cursor <cursoragent@cursor.com>
81 lines
2.9 KiB
Docker
81 lines
2.9 KiB
Docker
# Test image for the autopilot workspace.
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#
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# Mirrors the production target (Jetson Orin Nano Super, JetPack 6, Ubuntu
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# 22.04 LTS aarch64, FFmpeg 4.4, OpenCV 4.8) — see deploy/jetson/README.md.
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# `ffmpeg-sys-next 8.1` performs compile-time FFmpeg version detection
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# (sets `ffmpeg_4_4` cfg automatically), so the workspace's `ffmpeg-next
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# = "8.1"` pin works against Ubuntu 22.04's FFmpeg 4.4 with no code
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# change.
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#
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# Build (on the Jetson):
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# docker build -t autopilot-test -f Dockerfile.test .
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#
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# Run (mount the source so `target/` is cached across runs):
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# docker run --rm -v "$PWD:/workspace" -w /workspace autopilot-test
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#
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# Override the command for ad-hoc work:
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# docker run --rm -it -v "$PWD:/workspace" -w /workspace autopilot-test \
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# cargo test --workspace --no-fail-fast --color always
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#
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# First build (cold apt + rustup): ~10-20 min on Jetson Orin Nano Super.
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# Subsequent builds (only Cargo.toml / sources changed): seconds.
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FROM ubuntu:22.04
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ENV DEBIAN_FRONTEND=noninteractive
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# Production-matching system deps. Versions resolved from
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# jammy / jammy-updates / jammy-security so the resulting cargo
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# build/test environment is identical to what `apt install` would
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# yield on a clean JetPack 6 Jetson.
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential \
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cmake \
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pkg-config \
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ca-certificates \
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curl \
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git \
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libssl-dev \
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libclang-dev \
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clang \
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libopencv-dev \
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libavcodec-dev \
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libavdevice-dev \
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libavfilter-dev \
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libavformat-dev \
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libavutil-dev \
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libswscale-dev \
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libswresample-dev \
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protobuf-compiler \
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&& rm -rf /var/lib/apt/lists/*
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# `clang-sys` (used by both opencv-sys and ffmpeg-sys-next via bindgen)
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# looks for `libclang.so` in the default linker search path. Ubuntu's
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# `libclang-14-dev` only ships the unversioned symlink under
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# `/usr/lib/llvm-14/lib/`, so we point at it explicitly. Without
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# this, the build panics with "a `libclang` shared library is not
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# loaded on this thread".
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ENV LIBCLANG_PATH=/usr/lib/llvm-14/lib
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# Pin to the same Rust toolchain the workspace's rust-toolchain.toml
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# expects (channel = "stable", profile = "minimal", components =
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# ["rustfmt", "clippy"]). We pin the patch level here to keep CI
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# reproducible; the toolchain file overrides via `+stable` if the
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# Jetson dev wants a moving target.
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ENV RUSTUP_HOME=/usr/local/rustup \
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CARGO_HOME=/usr/local/cargo \
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PATH=/usr/local/cargo/bin:$PATH
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RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs \
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| sh -s -- -y --default-toolchain 1.82.0 --profile minimal \
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--component rustfmt --component clippy \
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&& rustup --version \
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&& cargo --version \
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&& rustc --version
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WORKDIR /workspace
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# Default to running the full workspace test suite. Override at
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# `docker run` time when needed.
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CMD ["cargo", "test", "--workspace", "--no-fail-fast", "--color", "always"]
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