feat(01-08): add pipeline/composition.py with env-aware build_pipeline factory

- Create build_pipeline(env, config, repository, streamer) -> FlightProcessor
- Wires all components: VO, GPR, MetricRefinement, FactorGraph, ChunkManager,
  FailureRecovery, ImageRotationManager, CoordinateTransformer, SatelliteDataManager, MAVLinkBridge
- env=jetson: prefer_cuvslam=True, prefer_mono_depth=True
- env=x86_dev/ci/sitl: prefer_cuvslam=False, prefer_mono_depth=False
- ci env: MAVLink instantiation failures are tolerated (None fallback)
- Export build_pipeline from pipeline/__init__.py

src/gps_denied/pipeline/__init__.py

@@ -3,6 +3,7 @@ from .orchestrator import FlightProcessor
 from .image_input import ImageInputPipeline
 from .result_manager import ResultManager
 from .sse_streamer import SSEEventStreamer
+from .composition import build_pipeline
 
 Pipeline = FlightProcessor
 
@@ -12,4 +13,5 @@ __all__ = [
     "ImageInputPipeline",
     "ResultManager",
     "SSEEventStreamer",
+    "build_pipeline",
 ]

src/gps_denied/pipeline/composition.py

@@ -0,0 +1,155 @@
+"""Env-aware pipeline composition root (ARCH-01 / ARCH-03, Plan 08).
+
+``build_pipeline`` is the single entry point that wires all concrete adapters
+into a :class:`FlightProcessor`.  Callers in ``app.py`` and ``api/deps.py``
+should import this function rather than instantiating components directly.
+
+Env-conditional wiring
+----------------------
+- ``env="jetson"``        → prefer_cuvslam=True,  prefer_mono_depth=True
+- ``env="x86_dev"``       → prefer_cuvslam=False, prefer_mono_depth=False
+- ``env="ci"``            → prefer_cuvslam=False, prefer_mono_depth=False
+- ``env="sitl"``          → prefer_cuvslam=False, prefer_mono_depth=False
+"""
+
+from __future__ import annotations
+
+import logging
+from typing import Optional
+
+logger = logging.getLogger(__name__)
+
+
+def build_pipeline(
+    env: str = "x86_dev",
+    config=None,
+    repository=None,
+    streamer=None,
+) -> "FlightProcessor":
+    """Build and return a fully-wired :class:`FlightProcessor`.
+
+    Parameters
+    ----------
+    env:
+        Target runtime environment.  One of ``"jetson"``, ``"x86_dev"``,
+        ``"ci"``, ``"sitl"``.
+    config:
+        Optional :class:`~gps_denied.config.AppSettings` instance.  When
+        ``None``, a fresh ``AppSettings()`` is constructed.
+    repository:
+        Optional :class:`~gps_denied.db.repository.FlightRepository`.
+        ``None`` is acceptable for smoke-tests / lifespan startup; ``deps.py``
+        swaps in a real session-scoped instance per request.
+    streamer:
+        Optional :class:`~gps_denied.pipeline.sse_streamer.SSEEventStreamer`.
+        Defaults to a fresh in-process instance when ``None``.
+
+    Returns
+    -------
+    FlightProcessor
+        Fully wired processor with all components attached.
+    """
+    # Lazy imports to avoid circular import chains at module load time.
+    from gps_denied.components.gpr.faiss_gpr import GlobalPlaceRecognition
+    from gps_denied.components.mavlink_io.pymavlink_bridge import MAVLinkBridge
+    from gps_denied.components.satellite_matcher.local_tile_loader import SatelliteDataManager
+    from gps_denied.components.satellite_matcher.metric_refinement import MetricRefinement
+    from gps_denied.components.vio.factory import create_vo_backend
+    from gps_denied.core.chunk_manager import RouteChunkManager
+    from gps_denied.core.coordinates import CoordinateTransformer
+    from gps_denied.core.factor_graph import FactorGraphOptimizer
+    from gps_denied.core.models import ModelManager
+    from gps_denied.core.recovery import FailureRecoveryCoordinator
+    from gps_denied.core.rotation import ImageRotationManager
+    from gps_denied.pipeline.orchestrator import FlightProcessor
+    from gps_denied.pipeline.sse_streamer import SSEEventStreamer
+    from gps_denied.schemas.graph import FactorGraphConfig
+
+    if config is None:
+        from gps_denied.config import AppSettings
+        config = AppSettings()
+
+    if streamer is None:
+        streamer = SSEEventStreamer()
+
+    # ------------------------------------------------------------------
+    # Env-conditional flags
+    # ------------------------------------------------------------------
+    prefer_cuvslam = env == "jetson"
+    prefer_mono_depth = env == "jetson"
+
+    # ------------------------------------------------------------------
+    # Model manager — ModelManager auto-selects TRT on Jetson
+    # ------------------------------------------------------------------
+    mm = ModelManager(engine_dir=str(config.models.weights_dir))
+
+    # ------------------------------------------------------------------
+    # Component wiring (mirrors lifespan in app.py)
+    # ------------------------------------------------------------------
+    vo = create_vo_backend(
+        model_manager=mm,
+        prefer_cuvslam=prefer_cuvslam,
+        prefer_mono_depth=prefer_mono_depth,
+    )
+    gpr = GlobalPlaceRecognition(mm)
+    metric = MetricRefinement(mm)
+    graph = FactorGraphOptimizer(FactorGraphConfig())
+    chunk_mgr = RouteChunkManager(graph)
+    recovery = FailureRecoveryCoordinator(chunk_mgr, gpr, metric)
+    rotation = ImageRotationManager(mm)
+    coord = CoordinateTransformer()
+    satellite = SatelliteDataManager(tile_dir=config.satellite.tile_dir)
+
+    # MAVLink: ci env may have no network — catch and fall back to None
+    mavlink = None
+    if env != "ci":
+        try:
+            mavlink = MAVLinkBridge(
+                connection_string=config.mavlink.connection,
+                output_hz=config.mavlink.output_hz,
+                telemetry_hz=config.mavlink.telemetry_hz,
+            )
+        except Exception as exc:
+            logger.warning("MAVLink bridge instantiation failed (env=%s): %s", env, exc)
+    else:
+        # ci: attempt anyway but tolerate failures
+        try:
+            mavlink = MAVLinkBridge(
+                connection_string=config.mavlink.connection,
+                output_hz=config.mavlink.output_hz,
+                telemetry_hz=config.mavlink.telemetry_hz,
+            )
+        except Exception as exc:
+            logger.info("MAVLink skipped in ci env: %s", exc)
+            mavlink = None
+
+    # ------------------------------------------------------------------
+    # Construct processor and attach all components
+    # ------------------------------------------------------------------
+    from gps_denied.schemas.eskf import ESKFConfig
+    eskf_config = ESKFConfig(**config.eskf.model_dump())
+
+    processor = FlightProcessor(
+        repository=repository,
+        streamer=streamer,
+        eskf_config=eskf_config,
+    )
+    processor.attach_components(
+        vo=vo,
+        gpr=gpr,
+        metric=metric,
+        graph=graph,
+        recovery=recovery,
+        chunk_mgr=chunk_mgr,
+        rotation=rotation,
+        coord=coord,
+        satellite=satellite,
+        mavlink=mavlink,
+    )
+
+    logger.info(
+        "Pipeline built: env=%s, prefer_cuvslam=%s, prefer_mono_depth=%s, mavlink=%s",
+        env, prefer_cuvslam, prefer_mono_depth,
+        config.mavlink.connection if mavlink else "disabled",
+    )
+    return processor