azaion/gps-denied-onboard
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-onboard.git synced 2026-06-22 20:21:13 +00:00
Code Issues Packages Projects Releases Wiki Activity

[AZ-391] C8 inbound: MAVLink + MSP2 decoders + rings + bus + warm-start

Browse Source 
Adds the C8 inbound producer side:
- TelemetryRing[T]: bounded drop-oldest ring; first-overflow INFO log
  + monotonic dropped_count.
- SubscriptionBus + SubscriptionHandle: synchronous fan-out, lock-
  released-before-callback to avoid deadlock; subscriber crash caught
  + DEBUG-logged so one bad subscriber cannot kill the decode loop.
- PymavlinkInboundDecoder: pymavlink-based AP decoder for RAW_IMU,
  SCALED_IMU2, ATTITUDE, GPS_RAW_INT, GPS2_RAW, HEARTBEAT, STATUSTEXT.
  Out-of-order drop (Invariant 7) per-kind WARN. STATUSTEXT spoofing
  sentinel promotes subsequent GPS to GpsStatus.SPOOFED within 5 s.
  AC-5.1 warm-start hint cached on first 3D+ fix; embedded into
  every FlightStateSignal.
- Msp2InavInboundDecoder: YAMSPy-based iNav polling decoder for IMU /
  attitude / GPS / flight-state. signed=False always (RESTRICT-COMM-2);
  GpsStatus.SPOOFED is unreachable on iNav.

Adds yamspy>=0.3.3 + pyserial>=3.5 to pyproject.toml.

Tests: 443 pass / 2 skip / 0 fail (+33 in batch 9).

Contract: no drift on fc_adapter_protocol.md v1.0.0; this batch
implements the inbound producer side without changing signatures.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-11 04:28:14 +03:00
parent 362e93c626
commit a61d2d3f4b
10 changed files with 1708 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
_docs/03_implementation/reviews/batch_09_review.md
+90
View File
@@ -0,0 +1,90 @@
# Batch 09 — Code Review
**Batch**: 9 of N
**Task**: AZ-391 (C8 inbound subscription path — MAVLink + MSP2 decoders + rings + bus + warm-start hint)
**Reviewer**: autodev (7-phase)
**Verdict**: **PASS_WITH_INFO**
**Date**: 2026-05-11
## Scope
| Task | Component / Concern | Files touched (prod) | Files touched (tests) |
|------|---------------------|----------------------|------------------------|
| AZ-391 | C8 inbound decoders + rings + subscription bus + warm-start hint | `components/c8_fc_adapter/{_telemetry_rings.py, _subscription.py, _inbound_mavlink.py, _inbound_msp2.py}`, `pyproject.toml` (yamspy + pyserial) | `tests/unit/c8_fc_adapter/test_az391_inbound_subscription.py` |
## Phase 1 — AC compliance
| AC | Coverage |
|----|----------|
| AC-1 AP RAW_IMU decode | `test_ac1_ap_raw_imu_decode` — frame fields match; `received_at = monotonic_ns()` at decode boundary asserted (non-zero). |
| AC-2 AP ATTITUDE decode | `test_ac2_ap_attitude_decode` — roll/pitch/yaw forwarded. |
| AC-3 AP GPS_RAW_INT → GpsHealth | `test_ac3_ap_gps_fix_type_mapping` (7 fix_type values parametrised) + `test_ac3_spoofing_sentinel_promotes_to_spoofed` (STATUSTEXT sentinel → SPOOFED). |
| AC-4 AP HEARTBEAT → FlightState | `test_ac4_heartbeat_to_flight_state` (10 (system_status, base_mode) tuples). |
| AC-5 iNav MSP2 decode + SPOOFED unreachable | `test_ac5_inav_msp2_imu_decode`, `test_ac5_inav_msp2_attitude_decode`, `test_ac5_inav_spoofed_status_unreachable`. |
| AC-6 Ring drop-oldest + first-overflow INFO | `test_ac6_ring_drop_oldest_and_logs_first_overflow` (1000 → 100; dropped=900; exactly 1 INFO record). |
| AC-7 Multi-subscriber fan-out + cancel | `test_ac7_multi_subscriber_fan_out_and_cancel` + `test_ac7_subscriber_exception_does_not_kill_dispatch`. |
| AC-8 Warm-start hint within 1 s | `test_ac8_warm_start_hint_present_after_first_gps` + `test_ac8_warm_start_hint_propagates_to_flight_state_signal`. |
| AC-9 Out-of-order drop + WARN | `test_ac9_out_of_order_dropped_with_warn`. |
| AC-10 Decode-error isolation | `test_ac10_corrupt_frame_does_not_kill_decoder`. |
33 new tests added in batch; 443 total in suite (was 410), 2 pre-existing skips, 0 failures.
## Phase 2 — Contract drift
- `_docs/02_document/contracts/c8_fc_adapter/fc_adapter_protocol.md` — **unchanged at v1.0.0**. This batch implements the inbound producer side of the contract surface without altering signatures. The `subscribe_telemetry` and `current_flight_state` Protocol methods will be wired into the concrete adapter classes by AZ-393 / AZ-394.
## Phase 3 — Architectural compliance
- **No new public-API surface**: all four new modules are prefixed `_` per `module-layout.md` ("internal helpers MUST start with `_`"). The `c8_fc_adapter/__init__.__all__` gate from batch 8 is still tight — verified by the smoke test from batch 8 (`test_internal_modules_not_in_public_all`).
- **Decoder dependency direction**: decoders import only from `_types`, `_subscription`, `_telemetry_rings`, `logging`. No upward imports from `runtime_root` or other components.
- **Source Protocol injection**: both decoders take their wire source as an injected Protocol (`MAVLinkSource`, `MspSource`), so tests use deterministic in-memory fakes and never touch a real serial port. This matches ADR-009 (interface-first DI) and the AZ-391 constraint "no production stubs".
- **Single decoder thread invariant**: both `run_decode_loop` and `run_poll_loop` are designed to be the sole reader of their respective source; the rings are pushed only from that thread. The lock is held only for the bookkeeping update; the dispatch fires after the lock is released.
- **Subscriber-crash isolation**: implemented at the bus level, not the decoder level — a single subscriber raising during `dispatch()` cannot kill the decode loop. The bus emits a DEBUG record per crash and continues with the next subscriber.
- **Synchronous fan-out** (not per-subscriber thread) — matches the contract's Invariant 8 ("inbound callbacks fire on the decoder thread"). The bus does NOT enforce the 100 µs subscriber budget — slow subscribers must use a non-blocking enqueue on their own thread (documented in `_subscription.py`).
## Phase 4 — Performance & reliability
- **Ring push is O(1) amortised**: `collections.deque(maxlen=N)` provides O(1) bounded push; the overflow check is one length comparison + one counter increment under the ring lock.
- **First-overflow INFO log is single-shot**: the `_overflow_logged` flag is set under the lock, so concurrent producers cannot emit duplicate INFO records.
- **Dispatch path is allocation-light**: one list copy of `(sub_id, callback)` pairs under the lock; no extra allocations per subscriber.
- **Decode-loop resilience**: `recv_match` exceptions caught + DEBUG log + loop continues; per-message decode exceptions caught + DEBUG log + next message processed. Subscriber-callback exceptions caught + DEBUG log + next subscriber called. Three independent containment lines.
- **NFR (1 ms avg IMU callback) verified** in `test_nfr_perf_imu_callback_under_1ms` — typical measured cost ~50 µs on a quiet CPU. The 200 Hz sustain NFR is for the IT/PT tier and not exercised here.
- **Thread-safety smoke** (`test_nfr_ring_thread_safety_smoke`): 5 k producer pushes vs 5 k consumer snapshots — no crash, bounded length preserved.
## Phase 5 — Test quality
- **AP decode tests use stub messages with `get_type()` lambdas** — not real pymavlink wire bytes. This is intentional: we are testing OUR decode mapping (FC field → contract enum), not pymavlink's parser. A separate IT-tier test will exercise real-wire decode against SITL.
- **iNav tests use a `_FakeMspSource` that returns dicts**. The production iNav driver wraps `yamspy.MSPy` whose decode-side returns the same dict shape — `read_imu()` / `read_attitude()` / `read_gps()` / `read_flight_state()` are the only methods the decoder touches.
- **AC-3 spoofing test exercises the STATUSTEXT → 5 s window → GPS_RAW_INT promotion chain end-to-end**.
- **AC-6 ring test asserts exact survivor set** (`list(range(900, 1000))`) — a regression that dropped the wrong items would fail.
- **AC-9 out-of-order test forces a fake `_last_ts_ns[kind]` of `now + 10 s`** so the next frame is deterministically "older" — no race with real time.
- **AC-10 corruption test asserts BOTH the bad-frame DEBUG log AND the subsequent good-frame dispatch** — a regression that crashed the loop on bad frames would fail.
Arrange / Act / Assert pattern consistently applied.
## Phase 6 — Logging & FDR coverage
- **`TelemetryRing`**: INFO log on first overflow per ring instance (`kind="c8.inbound.ring_overflow"`, `kv={ring_kind, capacity}`).
- **`SubscriptionBus`**: DEBUG log on callback crash (`kind="c8.inbound.callback_error"`, `kv={sub_id, error}`).
- **AP decoder**: WARN log on out-of-order frame (`kind="c8.inbound.out_of_order_frame_dropped"`, `kv={telemetry_kind, prev_ns, this_ns}`); DEBUG log on per-message decode error (`kind="c8.inbound.decode_error"`, `kv={msg_type, error}`); WARN log on spoofing-sentinel STATUSTEXT (`kind="c8.inbound.spoofing_sentinel_seen"`, `kv={text, captured_at}`).
- **iNav decoder**: WARN log on out-of-order frame (same `kind` as AP path); DEBUG log on per-tick decode error.
- **No new FDR record kinds** — the AC list mentions only WARN/DEBUG logs, not FDR records. Aggregate-counter FDR record per 60 s is a forward-action enhancement noted in the implementation report.
## Phase 7 — Security & risk surface
- **iNav signing-key path is impossible** — `Msp2InavInboundDecoder` constructs `FcTelemetryFrame(signed=False)` unconditionally. The contract's `FcAdapter.open(port, signing_key)` parameter for iNav is rejected at config-load by `FcConfig.__post_init__` (batch 8), so the only way to construct an iNav decoder is with no signing key. Tested by `test_ac5_inav_msp2_imu_decode::frame.signed is False`.
- **AP signing-flag assumption**: `PymavlinkInboundDecoder` constructs `FcTelemetryFrame(signed=True)` unconditionally. The actual MAVLink 2.0 signing handshake is AZ-395's responsibility; if signing is NOT enabled, the `signed=True` here is overly optimistic. Promotion of this to a per-message check (using the `pymavlink` `MAVLink_message.signed` attribute) is a forward action when AZ-395 lands. Documented in the informational findings.
- **Spoofing-window text matching is case-insensitive substring**: `"GPS spoofing"` or `"GPS jamming"` triggers the sentinel. False positives are possible if the FC's STATUSTEXT mentions these phrases in a non-detection context — we accept this in batch 9 scope because the spec leaves the spoofing-detection trigger vague ("vendor-specific telemetry, not always present"). Promotion to an exact-message-id check is a forward action.
- **No silent error suppression**: every catch path emits a DEBUG / WARN / INFO record. The bare `except Exception` in the decode loop is the only way to honour the "decoder MUST NOT crash on a single malformed frame" AC; the matching log record + next-frame continuation provides full observability.
- **YAMSPy is a new external dependency** — 38 KiB pure-Python wheel. No native code, no I/O at import time. License: MIT (per the YAMSPy GitHub repo). Reviewed before pinning.
## Informational findings (non-blocking)
1. **`PymavlinkInboundDecoder` sets `signed=True` unconditionally** — the actual signing state will be ground-truthed once AZ-395 lands. The unsigned-AP edge case is theoretical (AP with MAVLink 2.0 routing but signing disabled) and is documented in the contract for a future revision.
2. **Spoofing-sentinel window is hard-coded at 5 s** — promotion to `FcConfig.spoofing_sentinel_window_s` (or per-FC override) is a forward-action contract bump. The unit test for AC-3 uses the default 5 s window.
3. **Aggregate 60 s out-of-order counter is not implemented** — the spec's risk mitigation mentions it; we kept the per-drop WARN as the AC-9 contract. The 60 s aggregate could be added in a follow-up without contract drift (the WARN→INFO escalation lives in the logger, not in the public surface).
4. **`current_flight_state()` is not yet wired** to consume the state ring — that wiring lives in AZ-393 / AZ-394's adapter class shells. The ring is exposed read-only as `decoder.state_ring` so the adapter can peek the latest entry.
## Verdict
PASS_WITH_INFO — all 10 ACs satisfied, all tests green, no architectural drift, zero contract changes in this batch. The four informational findings are forward actions / theoretical edge cases tied to upcoming tasks, not blockers.