mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 13:06:38 +00:00
fix: post-audit — runtime bugs, functional gaps, docs, hardening
Phase A — Runtime bugs: - SSE: add push_event() method to SSEEventStreamer (was missing, masked by mocks) - MAVLink: satellites_visible=10 (was 0, triggers ArduPilot failsafe) - MAVLink: horiz_accuracy=sqrt(P[0,0]+P[1,1]) per spec (was sqrt(avg)) - MAVLink: MEDIUM confidence → fix_type=3 per solution.md (was 2) Phase B — Functional gaps: - handle_user_fix() injects operator GPS into ESKF with noise=500m - app.py uses create_vo_backend() factory (was hardcoded SequentialVO) - ESKF: Mahalanobis gating on satellite updates (rejects outliers >5σ) - ESKF: public accessors (position, quaternion, covariance, last_timestamp) - Processor: no more private ESKF field access Phase C — Documentation: - README: correct API endpoints, CLI command, 40+ env vars documented - Dockerfile: ENV prefixes match pydantic-settings (DB_, SATELLITE_, MAVLINK_) - tech_stack.md marked ARCHIVED (contradicts solution.md) Phase D — Hardening: - JWT auth middleware (AUTH_ENABLED=false default, verify_token on /flights) - TLS config env vars (AUTH_SSL_CERTFILE, AUTH_SSL_KEYFILE) - SHA-256 tile manifest verification in SatelliteDataManager - AuthConfig, ESKFSettings, MAVLinkConfig, SatelliteConfig in config.py Also: conftest.py shared fixtures, download_tiles.py, convert_to_trt.py scripts, config wiring into app.py lifespan, config-driven ESKF, calculate_precise_angle fix. Tests: 196 passed / 8 skipped. Ruff clean. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Yuzviak
@@ -23,19 +23,17 @@ Scenarios:
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from __future__ import annotations
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import argparse
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import sys
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import time
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import numpy as np
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# Ensure src/ is on the path when running from the repo root
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import os
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import sys
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import time
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sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "src"))
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from gps_denied.core.benchmark import AccuracyBenchmark, SyntheticTrajectory, SyntheticTrajectoryConfig
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from gps_denied.schemas import GPSPoint
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ORIGIN = GPSPoint(lat=49.0, lon=32.0)
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_SEP = "─" * 60
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@@ -0,0 +1,170 @@
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#!/usr/bin/env python3
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"""TensorRT engine conversion script.
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Converts ONNX models to TensorRT FP16 .engine files for Jetson deployment.
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Wraps trtexec CLI (available on Jetson with JetPack installed).
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Usage:
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# Convert a single model
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python scripts/convert_to_trt.py --onnx weights/litesam.onnx --output /opt/engines/litesam.engine
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# Convert all known models from weights/ to engines/
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python scripts/convert_to_trt.py --all --onnx-dir weights/ --engine-dir /opt/engines/
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# Dry run (check trtexec availability)
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python scripts/convert_to_trt.py --check
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Requires:
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- NVIDIA TensorRT (trtexec in PATH) — available on Jetson with JetPack
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- NOT available on dev/CI machines — script exits cleanly with a message
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"""
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from __future__ import annotations
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import argparse
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import os
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import shutil
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import subprocess
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import sys
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# Known models and their expected ONNX filenames
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_MODELS = {
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"superpoint": "superpoint.onnx",
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"lightglue": "lightglue.onnx",
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"xfeat": "xfeat.onnx",
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"dinov2": "dinov2.onnx",
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"litesam": "litesam.onnx",
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}
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def find_trtexec() -> str | None:
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"""Find trtexec binary in PATH or common Jetson locations."""
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path = shutil.which("trtexec")
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if path:
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return path
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# Common Jetson paths
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for candidate in [
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"/usr/src/tensorrt/bin/trtexec",
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"/usr/local/cuda/bin/trtexec",
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]:
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if os.path.isfile(candidate) and os.access(candidate, os.X_OK):
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return candidate
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return None
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def convert_onnx_to_engine(
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onnx_path: str,
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engine_path: str,
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fp16: bool = True,
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workspace_mb: int = 1024,
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trtexec_path: str | None = None,
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) -> bool:
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"""Run trtexec to convert ONNX → TensorRT engine.
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Returns True on success, False on failure.
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"""
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trtexec = trtexec_path or find_trtexec()
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if not trtexec:
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print("ERROR: trtexec not found. Install TensorRT or run on Jetson with JetPack.")
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return False
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if not os.path.isfile(onnx_path):
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print(f"ERROR: ONNX file not found: {onnx_path}")
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return False
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os.makedirs(os.path.dirname(engine_path) or ".", exist_ok=True)
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cmd = [
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trtexec,
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f"--onnx={onnx_path}",
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f"--saveEngine={engine_path}",
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f"--workspace={workspace_mb}",
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]
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if fp16:
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cmd.append("--fp16")
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print(f" Converting: {onnx_path} → {engine_path}")
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print(f" Command: {' '.join(cmd)}")
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try:
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result = subprocess.run(cmd, capture_output=True, text=True, timeout=600)
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if result.returncode == 0:
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size_mb = os.path.getsize(engine_path) / (1024 * 1024)
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print(f" OK: {engine_path} ({size_mb:.1f} MB)")
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return True
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else:
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print(f" FAIL (exit {result.returncode})")
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if result.stderr:
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print(f" stderr: {result.stderr[:500]}")
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return False
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except subprocess.TimeoutExpired:
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print(" FAIL: trtexec timed out (>600s)")
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return False
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except FileNotFoundError:
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print(f" FAIL: trtexec not found at {trtexec}")
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return False
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def main() -> int:
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parser = argparse.ArgumentParser(description="Convert ONNX models to TensorRT FP16 engines")
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parser.add_argument("--onnx", help="Input ONNX model path")
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parser.add_argument("--output", help="Output .engine path")
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parser.add_argument("--all", action="store_true", help="Convert all known models")
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parser.add_argument("--onnx-dir", default="weights", help="Directory with ONNX files")
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parser.add_argument("--engine-dir", default="/opt/engines", help="Output engine directory")
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parser.add_argument("--no-fp16", action="store_true", help="Disable FP16 (use FP32)")
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parser.add_argument("--workspace", type=int, default=1024, help="TRT workspace (MB)")
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parser.add_argument("--check", action="store_true", help="Check trtexec availability only")
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args = parser.parse_args()
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# Check mode
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if args.check:
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trtexec = find_trtexec()
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if trtexec:
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print(f"trtexec found: {trtexec}")
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return 0
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else:
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print("trtexec not found. Not on Jetson or TensorRT not installed.")
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return 1
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fp16 = not args.no_fp16
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# Single model conversion
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if args.onnx and args.output:
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ok = convert_onnx_to_engine(args.onnx, args.output, fp16=fp16, workspace_mb=args.workspace)
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return 0 if ok else 1
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# Batch conversion
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if args.all:
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trtexec = find_trtexec()
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if not trtexec:
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print("trtexec not found. Conversion requires Jetson with JetPack installed.")
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return 1
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print(f"Converting all known models from {args.onnx_dir}/ → {args.engine_dir}/")
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success = 0
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fail = 0
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for model_name, onnx_file in _MODELS.items():
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onnx_path = os.path.join(args.onnx_dir, onnx_file)
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engine_path = os.path.join(args.engine_dir, f"{model_name}.engine")
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if not os.path.isfile(onnx_path):
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print(f" SKIP {model_name}: {onnx_path} not found")
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continue
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ok = convert_onnx_to_engine(
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onnx_path, engine_path,
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fp16=fp16, workspace_mb=args.workspace, trtexec_path=trtexec,
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)
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if ok:
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success += 1
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else:
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fail += 1
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print(f"\nDone: {success} converted, {fail} failed")
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return 1 if fail > 0 else 0
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parser.print_help()
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return 1
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if __name__ == "__main__":
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sys.exit(main())
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@@ -0,0 +1,165 @@
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#!/usr/bin/env python3
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"""Satellite tile downloader for GPS-denied navigation.
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Downloads Web Mercator satellite tiles for a given bounding box and stores
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them in the standard z/x/y.png directory layout expected by SatelliteDataManager.
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Usage:
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# Dry run (count tiles only)
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python scripts/download_tiles.py --lat-min 48.5 --lat-max 49.5 --lon-min 31.5 --lon-max 32.5 --dry-run
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# Download from OpenStreetMap (default, no API key)
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python scripts/download_tiles.py --lat-min 48.5 --lat-max 49.5 --lon-min 31.5 --lon-max 32.5
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# Custom zoom and output dir
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python scripts/download_tiles.py --lat-min 49.0 --lat-max 49.1 --lon-min 32.0 --lon-max 32.1 \
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--zoom 18 --output .satellite_tiles
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# Google Maps provider (requires API key)
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python scripts/download_tiles.py --lat-min 49.0 --lat-max 49.1 --lon-min 32.0 --lon-max 32.1 \
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--provider google --api-key YOUR_KEY
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"""
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from __future__ import annotations
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import argparse
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import asyncio
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import os
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import sys
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import time
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sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..", "src"))
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from gps_denied.schemas.satellite import TileCoords
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from gps_denied.utils.mercator import latlon_to_tile
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# Tile provider URL templates
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_PROVIDERS = {
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"osm": "https://tile.openstreetmap.org/{z}/{x}/{y}.png",
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"google": (
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"https://maps.googleapis.com/maps/api/staticmap"
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"?center={lat},{lon}&zoom={z}&size=256x256&maptype=satellite&key={api_key}"
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),
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}
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_USER_AGENT = "GPS-Denied-Onboard/1.0 (tile prefetch)"
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def compute_tile_range(
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lat_min: float, lat_max: float, lon_min: float, lon_max: float, zoom: int
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) -> list[TileCoords]:
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"""Compute all tile coordinates within a lat/lon bounding box."""
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nw = latlon_to_tile(lat_max, lon_min, zoom) # NW corner
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se = latlon_to_tile(lat_min, lon_max, zoom) # SE corner
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tiles: list[TileCoords] = []
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for x in range(nw.x, se.x + 1):
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for y in range(nw.y, se.y + 1):
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tiles.append(TileCoords(x=x, y=y, zoom=zoom))
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return tiles
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async def download_tiles(
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tiles: list[TileCoords],
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output_dir: str,
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provider: str = "osm",
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api_key: str = "",
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max_concurrent: int = 4,
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delay_s: float = 0.1,
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) -> tuple[int, int]:
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"""Download tiles concurrently. Returns (success_count, error_count)."""
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try:
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import httpx
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except ImportError:
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print("ERROR: httpx required. Install: pip install httpx")
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return 0, len(tiles)
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url_template = _PROVIDERS.get(provider, _PROVIDERS["osm"])
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semaphore = asyncio.Semaphore(max_concurrent)
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success = 0
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errors = 0
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async def fetch_one(client: httpx.AsyncClient, tc: TileCoords) -> bool:
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nonlocal success, errors
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out_path = os.path.join(output_dir, str(tc.zoom), str(tc.x), f"{tc.y}.png")
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if os.path.isfile(out_path):
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success += 1
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return True
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if provider == "google":
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from gps_denied.utils.mercator import tile_to_latlon
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center = tile_to_latlon(tc.x + 0.5, tc.y + 0.5, tc.zoom)
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url = url_template.format(
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z=tc.zoom, x=tc.x, y=tc.y,
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lat=center.lat, lon=center.lon, api_key=api_key,
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)
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else:
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url = url_template.format(z=tc.zoom, x=tc.x, y=tc.y)
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async with semaphore:
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try:
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resp = await client.get(url)
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resp.raise_for_status()
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os.makedirs(os.path.dirname(out_path), exist_ok=True)
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with open(out_path, "wb") as f:
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f.write(resp.content)
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success += 1
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await asyncio.sleep(delay_s)
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return True
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except Exception as exc:
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errors += 1
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print(f" FAIL {tc.zoom}/{tc.x}/{tc.y}: {exc}")
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return False
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async with httpx.AsyncClient(
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timeout=30.0,
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headers={"User-Agent": _USER_AGENT},
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follow_redirects=True,
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) as client:
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tasks = [fetch_one(client, tc) for tc in tiles]
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await asyncio.gather(*tasks)
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return success, errors
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def main() -> int:
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parser = argparse.ArgumentParser(description="Download satellite tiles for GPS-denied navigation")
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parser.add_argument("--lat-min", type=float, required=True)
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parser.add_argument("--lat-max", type=float, required=True)
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parser.add_argument("--lon-min", type=float, required=True)
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parser.add_argument("--lon-max", type=float, required=True)
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parser.add_argument("--zoom", type=int, default=18)
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parser.add_argument("--output", default=".satellite_tiles", help="Output directory")
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parser.add_argument("--provider", choices=["osm", "google"], default="osm")
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parser.add_argument("--api-key", default="", help="API key (for google provider)")
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parser.add_argument("--max-concurrent", type=int, default=4)
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parser.add_argument("--dry-run", action="store_true", help="Only count tiles, don't download")
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args = parser.parse_args()
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tiles = compute_tile_range(args.lat_min, args.lat_max, args.lon_min, args.lon_max, args.zoom)
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# Estimate size: ~30KB per tile
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est_mb = len(tiles) * 30 / 1024
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print(f"Tiles: {len(tiles)} at zoom {args.zoom}")
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print(f"Bounding box: ({args.lat_min}, {args.lon_min}) → ({args.lat_max}, {args.lon_max})")
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print(f"Estimated size: ~{est_mb:.1f} MB")
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print(f"Output: {args.output}")
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if args.dry_run:
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print("\n--dry-run: no tiles downloaded.")
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return 0
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t0 = time.time()
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ok, err = asyncio.run(download_tiles(
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tiles, args.output,
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provider=args.provider, api_key=args.api_key,
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max_concurrent=args.max_concurrent,
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))
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elapsed = time.time() - t0
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print(f"\nDone in {elapsed:.1f}s: {ok} downloaded, {err} errors")
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return 1 if err > 0 else 0
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if __name__ == "__main__":
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sys.exit(main())
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Reference in New Issue
Block a user