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https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 10:31:12 +00:00
[AZ-622] Phase D: build_pre_constructed seeds c3 GPU runtimes
build_pre_constructed now populates c3_lightglue_runtime (LightGlueRuntime) + c3_feature_extractor (FeatureExtractor) on top of AZ-619/620/621. Strategy-specific BUILD_MATCHER_* flag mismatch raises AirborneBootstrapError naming the missing flag and the c3_matcher consumer; the c7 InferenceRuntime built earlier in the bootstrap is reused as the engine source so no double-build at this layer. C3MatcherConfig gains optional lightglue_weights_path: Path | None for the operator's deployment config; production main() (AZ-624) populates it. Real LightGlue inference correctness is verified by AZ-624's Jetson AC-5 run per the AZ-622 Tier-2 Note. Phase tests for AZ-619/620/621 gain an autouse _stub_c3_matcher_builders fixture so additivity assertions remain valid as the bootstrap grows. Code review: PASS_WITH_WARNINGS (3 Low: signature drift from spec, _is_build_flag_on duplication across 3 runtime_root modules, and BuildConfig literal mirrored with per-strategy build configs). All deferred to future hygiene PBIs. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
@@ -55,6 +55,8 @@ from typing import TYPE_CHECKING, Any, Final
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from gps_denied_onboard.clock.wall_clock import WallClock
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from gps_denied_onboard.fdr_client.client import make_fdr_client
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from gps_denied_onboard.helpers.feature_extractor import OpenCvOrbExtractor
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from gps_denied_onboard.helpers.lightglue_runtime import LightGlueRuntime
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from gps_denied_onboard.runtime_root import register_strategy
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from gps_denied_onboard.runtime_root.errors import RuntimeNotAvailableError
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from gps_denied_onboard.runtime_root.inference_factory import build_inference_runtime
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@@ -71,11 +73,15 @@ from gps_denied_onboard.runtime_root.vio_factory import build_vio_strategy
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from gps_denied_onboard.runtime_root.vpr_factory import build_vpr_strategy
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if TYPE_CHECKING:
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from gps_denied_onboard._types.manifests import EngineHandle
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from gps_denied_onboard.components.c7_inference import InferenceRuntime
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from gps_denied_onboard.config import Config
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from gps_denied_onboard.helpers.feature_extractor import FeatureExtractor
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__all__ = [
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"AIRBORNE_MAIN_PRODUCER_ID",
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"AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS",
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"C3_MATCHER_BUILD_FLAGS",
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"C7_AIRBORNE_BUILD_FLAGS",
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"FAISS_BUILD_FLAG",
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"AirborneBootstrapError",
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@@ -114,6 +120,33 @@ flag would unblock the bootstrap with a different runtime selection.
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"""
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C3_MATCHER_BUILD_FLAGS: Final[Mapping[str, str]] = {
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"disk_lightglue": "BUILD_MATCHER_DISK_LIGHTGLUE",
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"aliked_lightglue": "BUILD_MATCHER_ALIKED_LIGHTGLUE",
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"xfeat": "BUILD_MATCHER_XFEAT",
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}
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"""Per-strategy ``BUILD_MATCHER_*`` flag matrix consumed by the airborne
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LightGlue-runtime builder (AZ-622 / Phase D).
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Mirrors :data:`gps_denied_onboard.runtime_root.matcher_factory.\
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_STRATEGY_TO_BUILD_FLAG` verbatim — both this constant and the matcher
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factory's table read the same compile-time flags. ANY mutation of this
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matrix MUST be mirrored in ``matcher_factory._STRATEGY_TO_BUILD_FLAG``
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(and vice versa).
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Surfaced here so :func:`_build_c3_lightglue_runtime` can name the
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gating flag in an :class:`AirborneBootstrapError` (AC-622.2) when the
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configured C3 matcher strategy's flag is OFF in this binary.
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Note on flag naming: AZ-622's task spec uses the name
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``BUILD_C3_MATCHER_DISK_LIGHTGLUE`` informally, but the actual
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production flag matrix is the older ``BUILD_MATCHER_*`` family
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(``matcher_factory._STRATEGY_TO_BUILD_FLAG``). Reusing those flags is
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the spirit of the AZ-622 ``MUST reuse the existing per-strategy
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BUILD_C3_MATCHER_* matrix`` constraint.
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"""
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AIRBORNE_MAIN_PRODUCER_ID: Final[str] = "airborne_main"
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"""Producer ID for the per-binary shared FdrClient placed under
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``pre_constructed['c13_fdr']``.
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@@ -542,25 +575,208 @@ def _build_c7_inference(config: Config) -> Any:
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) from exc
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def _resolve_c3_matcher_strategy(config: Config) -> str:
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"""Return the configured C3 matcher strategy, defaulting to disk_lightglue.
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Reuses :class:`gps_denied_onboard.components.c3_matcher.C3MatcherConfig`'s
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own default ``"disk_lightglue"`` when ``config.components`` carries no
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``c3_matcher`` block (early-bootstrap tests with bare ``Config()``).
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"""
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block = config.components.get("c3_matcher")
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if block is None:
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return "disk_lightglue"
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return getattr(block, "strategy", "disk_lightglue")
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def _is_build_flag_on(flag_name: str) -> bool:
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"""Read a compile-time ``BUILD_*`` flag from the environment.
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Mirrors the same predicate used by
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:func:`gps_denied_onboard.runtime_root.matcher_factory.\
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_is_build_flag_on` — ``ON`` / ``1`` / ``true`` / ``yes`` (case-insensitive)
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is ON; everything else (including unset) is OFF. Defined locally so the
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bootstrap does not depend on the matcher-factory's private helper.
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"""
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raw = os.environ.get(flag_name, "")
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return raw.strip().lower() in {"on", "1", "true", "yes"}
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def _load_lightglue_engine_handle(
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config: Config, inference_runtime: InferenceRuntime
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) -> EngineHandle:
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"""Production loader for the shared LightGlue matcher engine.
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Reads ``config.components['c3_matcher'].lightglue_weights_path``,
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compiles the engine via the C7
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:class:`InferenceRuntime.compile_engine` (TensorRT or PyTorch-FP16
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per AZ-621), then deserialises it into an opaque
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:class:`EngineHandle`. The handle's lifecycle is owned by the
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:class:`LightGlueRuntime` instance returned by
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:func:`_build_c3_lightglue_runtime`.
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AZ-622 unit tests monkey-patch this function with a sentinel
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:class:`EngineHandle`-shaped mock so they can exercise the
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LightGlueRuntime wiring without standing up a real GPU + TensorRT
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toolchain (per AZ-622 ``Tier-2 Note``: real LightGlue inference
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correctness is verified by AZ-624's Jetson AC-5 run).
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Raises:
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AirborneBootstrapError: if ``c3_matcher.lightglue_weights_path``
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is ``None`` (the operator-actionable message points at the
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production main() wiring task — AZ-624).
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RuntimeNotAvailableError: if the underlying
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:func:`InferenceRuntime.compile_engine` /
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:func:`deserialize_engine` paths fail (caller wraps this
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into an :class:`AirborneBootstrapError`).
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"""
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block = config.components.get("c3_matcher")
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weights_path = (
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getattr(block, "lightglue_weights_path", None) if block is not None else None
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)
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if weights_path is None:
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raise AirborneBootstrapError(
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"airborne_bootstrap: cannot construct "
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"pre_constructed['c3_lightglue_runtime'] because "
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"config.components['c3_matcher'].lightglue_weights_path "
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"is None. Production main() (AZ-624) must populate the "
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"path to the compiled LightGlue engine before calling "
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"build_pre_constructed; tests stub _load_lightglue_engine_handle "
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"via monkeypatch."
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)
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from gps_denied_onboard._types.inference import BuildConfig, PrecisionMode
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build_config: BuildConfig = BuildConfig(
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precision=PrecisionMode.FP16,
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workspace_mb=512,
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calibration_dataset=None,
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optimization_profiles=(),
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)
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cache_entry = inference_runtime.compile_engine(weights_path, build_config)
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return inference_runtime.deserialize_engine(cache_entry)
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def _build_c3_lightglue_runtime(
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config: Config, *, inference_runtime: InferenceRuntime
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) -> LightGlueRuntime:
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"""Build ``pre_constructed['c3_lightglue_runtime']`` for the airborne binary.
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1. Resolve the configured C3 matcher strategy (default
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``disk_lightglue``).
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2. Look up the gating flag in :data:`C3_MATCHER_BUILD_FLAGS`.
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An unknown strategy or an OFF flag is an
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:class:`AirborneBootstrapError` naming the missing flag and
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the consuming component slug ``c3_matcher`` (AC-622.2).
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3. Load the LightGlue engine handle via
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:func:`_load_lightglue_engine_handle` (the heavy seam unit
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tests monkeypatch — see AZ-622 ``Tier-2 Note``).
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4. Wrap the handle in :class:`LightGlueRuntime` and return.
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The returned runtime is the SAME instance that the wrappers for
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``c3_matcher`` and ``c2_5_rerank`` extract from
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``pre_constructed['c3_lightglue_runtime']`` — identity-share is
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the structural R14 fix (avoids double GPU memory; AZ-344 AC-10).
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The cross-component identity-share assertion is verified at
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AZ-624's integration AC, not here.
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Raises:
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AirborneBootstrapError: when the configured strategy's
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``BUILD_MATCHER_*`` flag is OFF, when the strategy is
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unknown to :data:`C3_MATCHER_BUILD_FLAGS`, or when the
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heavy seam fails (the upstream
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:class:`RuntimeNotAvailableError` is preserved as
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``__cause__``).
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"""
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strategy = _resolve_c3_matcher_strategy(config)
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flag = C3_MATCHER_BUILD_FLAGS.get(strategy)
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if flag is None:
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raise AirborneBootstrapError(
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f"airborne_bootstrap: cannot construct "
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f"pre_constructed['c3_lightglue_runtime'] because "
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f"config.components['c3_matcher'].strategy={strategy!r} is "
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f"not in the airborne BUILD-flag matrix "
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f"{sorted(C3_MATCHER_BUILD_FLAGS.keys())!r}. Consuming "
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f"component: c3_matcher. Reconfigure the C3 matcher to "
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f"select one of the supported strategies."
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)
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if not _is_build_flag_on(flag):
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raise AirborneBootstrapError(
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f"airborne_bootstrap: cannot construct "
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f"pre_constructed['c3_lightglue_runtime'] because the "
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f"gating flag {flag}=ON is required for the configured "
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f"strategy={strategy!r}, but {flag} is OFF in this binary. "
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f"Consuming component: c3_matcher. Set {flag}=ON, or "
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f"reconfigure config.components['c3_matcher'].strategy to a "
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f"strategy whose BUILD_MATCHER_* flag is ON."
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)
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try:
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engine_handle = _load_lightglue_engine_handle(config, inference_runtime)
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except RuntimeNotAvailableError as exc:
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raise AirborneBootstrapError(
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f"airborne_bootstrap: cannot construct "
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f"pre_constructed['c3_lightglue_runtime'] because the "
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f"LightGlue engine load failed for strategy={strategy!r} "
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f"(gating flag {flag} is ON). Consuming component: "
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f"c3_matcher. Upstream error: {exc}"
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) from exc
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return LightGlueRuntime(engine_handle)
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def _build_c3_feature_extractor(config: Config) -> FeatureExtractor:
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"""Build ``pre_constructed['c3_feature_extractor']`` for the airborne binary.
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Returns the shared :class:`FeatureExtractor` that C2.5's
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:class:`InlierCountReRanker` consumes for both per-frame nav-camera
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images and per-candidate tile pixels (per
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:class:`AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS`'s ``c2_5_rerank``
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row). The L1 helper module
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:mod:`gps_denied_onboard.helpers.feature_extractor` documents
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:class:`OpenCvOrbExtractor` as the production-ready airborne
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placeholder until the C7 ``InferenceRuntime``-backed DISK / ALIKED
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feature extractor lands; AZ-622 wires that placeholder in.
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No ``BUILD_*`` flag check applies here: the C3 matcher's per-strategy
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flag matrix gates the *matcher* engine (handled by
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:func:`_build_c3_lightglue_runtime`); the *feature extractor* is
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consumed by C2.5 (not C3) and is a pure-CPU OpenCV path that has no
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compile-time gate of its own.
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The ``config`` argument is accepted for symmetry with the other
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bootstrap builders and to keep the door open for a future
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config-driven feature-extractor selection (DISK / ALIKED swap-in)
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without changing the call site in :func:`build_pre_constructed`.
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"""
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del config # currently no config knobs; placeholder for future selection
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return OpenCvOrbExtractor()
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def build_pre_constructed(config: Config) -> dict[str, Any]:
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"""Build the airborne ``pre_constructed`` dict for :func:`compose_root`.
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AZ-619 (Phase A) seeded ``c13_fdr`` and ``clock``. AZ-620 (Phase B)
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added the two C6 storage entries (``c6_descriptor_index`` +
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``c6_tile_store``). AZ-621 (Phase C) adds ``c7_inference``
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``c6_tile_store``). AZ-621 (Phase C) added ``c7_inference``
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(PyTorch FP16 vs. TensorRT, gated by
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:data:`C7_AIRBORNE_BUILD_FLAGS`). Phases D..F (AZ-622..AZ-624) will
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extend this function to populate the remaining keys in
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:data:`C7_AIRBORNE_BUILD_FLAGS`). AZ-622 (Phase D) adds
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``c3_lightglue_runtime`` (single shared
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:class:`gps_denied_onboard.helpers.lightglue_runtime.LightGlueRuntime`
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instance, gated by :data:`C3_MATCHER_BUILD_FLAGS` per the
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configured strategy) + ``c3_feature_extractor`` (the shared
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:class:`gps_denied_onboard.helpers.feature_extractor.FeatureExtractor`
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used by C2.5). Phases E..F (AZ-623..AZ-624) will extend this
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function to populate the remaining keys in
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:data:`AIRBORNE_REQUIRED_PRE_CONSTRUCTED_KEYS`.
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Returns a fresh dict on each call. The ``c13_fdr`` instance is cached
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inside :func:`make_fdr_client` (per-producer cache) so two calls within
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the same process return dicts where ``pre_constructed['c13_fdr']`` is
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the SAME object — AC-619.2. ``clock`` is a fresh :class:`WallClock`
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each call (stateless; the cache would be a no-op). The C6 + C7
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entries are constructed via the existing :mod:`storage_factory` and
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:mod:`inference_factory` builders without additional caching at this
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layer.
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each call (stateless; the cache would be a no-op). The C6, C7, and C3
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entries are constructed via the existing :mod:`storage_factory`,
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:mod:`inference_factory`, and helper modules without additional
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caching at this layer; the C7 :class:`InferenceRuntime` built for the
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``c7_inference`` slot is reused as the engine source for the LightGlue
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matcher load (AZ-622) so the bootstrap does not double-build the
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inference runtime.
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Replay-mode override: :func:`compose_root` merges ``replay_components``
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over ``pre_constructed`` so the :class:`WallClock` here is replaced by
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@@ -575,16 +791,23 @@ def build_pre_constructed(config: Config) -> dict[str, Any]:
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runtime is buildable (both ``BUILD_TENSORRT_RUNTIME`` and
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``BUILD_PYTORCH_FP16_RUNTIME`` OFF, or the configured
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runtime's matching flag is OFF) and any configured consumer
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requires ``c7_inference``. The message names the consuming
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component slug(s) and the relevant gating flag(s).
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requires ``c7_inference``; OR if the configured C3 matcher
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strategy's :data:`C3_MATCHER_BUILD_FLAGS` flag is OFF (or
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the strategy is unknown), or if the LightGlue engine load
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fails. The message names the consuming component slug(s)
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and the relevant gating flag(s).
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"""
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return {
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"c13_fdr": make_fdr_client(AIRBORNE_MAIN_PRODUCER_ID, config),
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"clock": WallClock(),
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"c6_descriptor_index": _build_c6_descriptor_index(config),
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"c6_tile_store": _build_c6_tile_store(config),
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"c7_inference": _build_c7_inference(config),
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}
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constructed: dict[str, Any] = {}
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constructed["c13_fdr"] = make_fdr_client(AIRBORNE_MAIN_PRODUCER_ID, config)
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constructed["clock"] = WallClock()
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constructed["c6_descriptor_index"] = _build_c6_descriptor_index(config)
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constructed["c6_tile_store"] = _build_c6_tile_store(config)
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constructed["c7_inference"] = _build_c7_inference(config)
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constructed["c3_lightglue_runtime"] = _build_c3_lightglue_runtime(
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config, inference_runtime=constructed["c7_inference"]
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)
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constructed["c3_feature_extractor"] = _build_c3_feature_extractor(config)
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return constructed
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def register_airborne_strategies() -> None:
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