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component assesment and fixes done

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Oleksandr Bezdieniezhnykh
2025-11-30 16:09:31 +02:00
parent a172b21aac
commit ce9760fcbe
22 changed files with 681 additions and 1844 deletions
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docs/02_components/system_flows.md
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@@ -11,7 +11,8 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
| ID | Component | Interface | Purpose |
|----|-----------|-----------|---------|
| F01 | Flight API | `IFlightAPI` | REST endpoints, SSE streaming |
| F02 | Flight Processor | `IFlightProcessor` | Central coordinator, processing loop |
| F02.1 | Flight Lifecycle Manager | `IFlightLifecycleManager` | Flight CRUD, init, API delegation |
| F02.2 | Flight Processing Engine | `IFlightProcessingEngine` | Processing loop, recovery orchestration |
| F03 | Flight Database | `IFlightDatabase` | Persistence layer |
| F04 | Satellite Data Manager | `ISatelliteDataManager` | Tile fetching, caching, progressive search |
| F05 | Image Input Pipeline | `IImageInputPipeline` | Image ingestion, validation, storage |
@@ -86,7 +87,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
└────────┬────────┘
▼
┌─────────────────┐
│ F02 Ready │ ← Ready to accept flights
│ F02.1 Ready │ ← Ready to accept flights
└────────┬────────┘
▼
┌─────────────────┐
@@ -113,7 +114,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ create_flight()
▼
┌─────────┐
│ F02 │ Flight Processor
│ F02.1 │ Flight Lifecycle Manager
└────┬────┘
┌────────────────────────┬─┴─┬────────────────────────┐
│ │ │ │
@@ -186,7 +187,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
**Sequence**:
```
┌──────────────────────────────────────────────────────────────────────────┐
│ F02 Flight Processor │
│ F02.2 Flight Processing Engine │
│ │
│ ┌─────────────┐ │
│ │ get_next │◄───────────────────────────────────────────────────────┐│
@@ -205,7 +206,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ └──────────────────────────────┬──────────────────────────────┘ ││
│ ▼ ││
│ ┌─────────────────────────────────────────────────────────────┐ ││
│ │ F07 compute_relative_pose_in_chunk() │ ││
│ │ F07 compute_relative_pose() │ ││
│ │ ├─ SuperPoint extract (prev + curr) via F16 │ ││
│ │ └─ LightGlue match via F16 │ ││
│ └──────────────────────────────┬──────────────────────────────┘ ││
@@ -230,15 +231,17 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ ┌─────────────────┴─────────────────┐ ││
│ │ Match Found? │ ││
│ ▼ ▼ ││
│ ┌─────────────────────────┐ ┌─────────────────────────┐ ││
│ │F10 add_absolute_factor()│ │ Skip absolute anchor │ ││
│ │F06 update_heading() │ │ (VO-only frame) │ ││
│ └────────────┬────────────┘ └─────────────────────────┘ ││
│ ┌──────────────────────────────────┐ ┌─────────────────────────┐ ││
│ │F10 add_absolute_factor(flight_id,│ │ Skip absolute anchor │ ││
│ │ frame_id, gps, covariance, │ │ (VO-only frame) │ ││
│ │ is_user_anchor=False) │ └─────────────────────────┘ ││
│ │F06 update_heading() │ ││
│ └────────────┬─────────────────────┘ ││
│ │ ││
│ └─────────────────────┬───────────────────────────────────┘│
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ F10 optimize_chunk() │ │
│ │ F10 optimize_chunk(flight_id, chunk_id, iterations) │ │
│ └──────────────────────────────┬──────────────────────────────┘ │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
@@ -324,7 +327,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ 1. EMIT RecoveryStarted event │ │
│ │ └─ F02 subscribes → Update status to "recovering" │ │
│ │ └─ F02.2 updates status to "recovering" │ │
│ └──────────────────────────────┬──────────────────────────────┘ │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
@@ -381,7 +384,8 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ create_chunk(flight_id, start_frame_id) │ │
│ │ ├─ F10 create_new_chunk() ← Factor graph subgraph │ │
│ │ ├─ F10 create_chunk_subgraph(flight_id, chunk_id, │ │
│ │ │ start_frame_id) ← Factor graph subgraph │ │
│ │ ├─ Initialize chunk state (unanchored, active) │ │
│ │ └─ F03 save_chunk_state() │ │
│ └──────────────────────────────┬──────────────────────────────┘ │
@@ -390,16 +394,19 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ │ For each frame in chunk: │ │
│ │ │ │
│ │ ┌─────────────────────────────────────┐ │ │
│ │ │ F07 compute_relative_pose_in_chunk()│ │ │
│ │ │ F07 compute_relative_pose() │ │ │
│ │ └───────────────────┬─────────────────┘ │ │
│ │ ▼ │ │
│ │ ┌──────────────────────────────────────┐ │ │
│ │ │ F12 add_frame_to_chunk() │ │ │
│ │ │ └─ F10 add_relative_factor_to_chunk│ │ │
│ │ │ (flight_id, chunk_id, frame_i, │ │ │
│ │ │ frame_j, relative_pose, cov) │ │ │
│ │ └───────────────────┬──────────────────┘ │ │
│ │ ▼ │ │
│ │ ┌─────────────────────────────────────┐ │ │
│ │ │ F10 optimize_chunk() (local) │ │ │
│ │ │ F10 optimize_chunk(flight_id, │ │ │
│ │ │ chunk_id, iterations) (local) │ │ │
│ │ └─────────────────────────────────────┘ │ │
│ │ │ │
│ └────────────────────────────────────────────────────┘ │
@@ -481,7 +488,8 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ 2. Anchor chunk: F12 mark_chunk_anchored(chunk_id, gps) │ │
│ │ └─ F10 add_chunk_anchor() │ │
│ │ └─ F10 add_chunk_anchor(flight_id, chunk_id, frame_id, │ │
│ │ gps, covariance) │ │
│ └──────────────────────────────┬──────────────────────────────┘ │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
@@ -490,20 +498,22 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ └──────────────────────────────┬──────────────────────────────┘ │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ 4. Merge: F12 merge_chunks(chunk_id, target_chunk_id, Sim3) │ │
│ │ ├─ F10 merge_chunks() ← Apply Sim(3) transform │ │
│ │ 4. Merge: F12 merge_chunks(target_chunk_id, chunk_id, Sim3) │ │
│ │ ├─ F10 merge_chunk_subgraphs(flight_id, chunk_id, │ │
│ │ │ target_chunk_id, transform) ← Apply Sim(3) │ │
│ │ ├─ F12 deactivate_chunk(chunk_id) │ │
│ │ └─ F03 save_chunk_state() │ │
│ └──────────────────────────────┬──────────────────────────────┘ │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ 5. Optimize global: F10 optimize_global() │ │
│ │ 5. Optimize global: F10 optimize_global(flight_id, │ │
│ │ iterations) │ │
│ └──────────────────────────────┬──────────────────────────────┘ │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ 6. EMIT ChunkMerged event (flight_id,chunk_id,merged_frames)│ │
│ │ └─ F14 subscribes → update_results_after_chunk_merge() │ │
│ │ ├─ F10 get_trajectory() → ENU poses │ │
│ │ ├─ F10 get_trajectory(flight_id) → ENU poses │ │
│ │ ├─ F13 enu_to_gps() for each frame │ │
│ │ ├─ F03 save_frame_result() + update_waypoint() │ │
│ │ └─ F15 send_refinement() → SSE "frame_refined" × N │ │
@@ -532,7 +542,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ │ 3. Create UserInputRequest │ │
│ │ 4. F15 send_user_input_request() → SSE "user_input_needed" │ │
│ │ 5. EMIT UserInputNeeded event │ │
│ │ └─ F02 subscribes → Update status to "BLOCKED" │ │
│ │ └─ F02.2 updates status to "BLOCKED" │ │
│ └─────────────────────────────────────────────────────────────┘ │
└──────────────────────────────────────────────────────────────────────────┘
│
@@ -561,7 +571,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ │ 2. F10 add_absolute_factor(is_user_anchor=True) ← σ=5m │ │
│ │ 3. F10 optimize() │ │
│ │ 4. EMIT UserFixApplied event │ │
│ │ └─ F02 subscribes → Update status to "PROCESSING" │ │
│ │ └─ F02.2 updates status to "PROCESSING" │ │
│ │ 5. Resume processing loop │ │
│ └─────────────────────────────────────────────────────────────┘ │
└──────────────────────────────────────────────────────────────────────────┘
@@ -591,7 +601,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ │ 3. Identify refined frames │ │
│ │ 4. F14 mark_refined(frame_ids) │ │
│ │ ├─ For each frame: │ │
│ │ │ ├─ F10 get_trajectory() → ENU pose │ │
│ │ │ ├─ F10 get_trajectory(flight_id) → ENU pose │ │
│ │ │ ├─ F13 enu_to_gps(flight_id, enu_pose) │ │
│ │ │ ├─ F03 save_frame_result(refined=True) │ │
│ │ │ └─ F03 update_waypoint() │ │
@@ -651,12 +661,13 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
**Sequence**:
```
┌──────────────────────────────────────────────────────────────────────────┐
│ F02 Flight Processor │
│ F02.1 Flight Lifecycle Manager │
│ │
│ ┌─────────────────────────────────────────────────────────────┐ │
│ │ 1. All frames processed │ │
│ │ 1. All frames processed (Signal from F02.2) │ │
│ │ 2. Wait for pending chunk merges (if any) │ │
│ │ 3. F10 optimize_global(iterations=100) ← Final optimization │ │
│ │ 3. F10 optimize_global(flight_id, iterations=100) │ │
│ │ ← Final optimization │ │
│ └──────────────────────────────┬──────────────────────────────┘ │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────┐ │
@@ -699,7 +710,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
└────────┬────────┘
▼
┌─────────────────┐
│ F02 Complete/ │ ← Complete or cancel active flights
│ F02.1 Complete/ │ ← Complete or cancel active flights
│ Cancel │
└────────┬────────┘
▼
@@ -760,8 +771,13 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
┌─────────────────────────────────────────────────────────────────────────────┐
│ ORCHESTRATION LAYER │
│ ┌─────────────────────────────────────────────────────────────────────┐ │
│ │ F02 Flight Processor │ │
│ │ (Central coordinator, event subscriber, background task manager) │ │
│ │ F02.1 Flight Lifecycle Manager │ │
│ └─────────────────────────────────────────────────────────────────────┘ │
│ │ (Spawns/Manages) │
│ ▼ │
│ ┌─────────────────────────────────────────────────────────────────────┐ │
│ │ F02.2 Flight Processing Engine │ │
│ │ (Processing loop, State machine, Recovery orchestration) │ │
│ └─────────────────────────────────────────────────────────────────────┘ │
└─────────────────────────────────────────────────────────────────────────────┘
│
@@ -772,7 +788,7 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
│ ┌─────────────┐ ┌─────────────┐ │ │ ┌───────────────────────┐ │
│ │ F04 │ │ F05 │ │ │ │ F11 │ │
│ │ Satellite │ │ Image │ │ │ │ Failure Recovery │ │
│ │ Data │ │ Input │ │ │ │ (Event emitter) │ │
│ │ Data │ │ Input │ │ │ │ (Logic & Strategies) │ │
│ └─────────────┘ └─────────────┘ │ │ └───────────────────────┘ │
│ │ │ │ │
│ ┌─────────────┐ ┌─────────────┐ │ │ ▼ │
@@ -827,20 +843,18 @@ ASTRAL-Next is a GPS-denied UAV visual localization system using tri-layer match
---
## Event-Based Communication
## Status-Based Recovery Communication
F11 Failure Recovery Coordinator emits events instead of directly calling F02:
F11 Failure Recovery Coordinator uses **Direct Call Returns** to communicate with F02.2 Flight Processing Engine. Events have been removed to eliminate circular dependencies and clarify control flow.
| Event | Publisher | Subscribers | Action |
|-------|-----------|-------------|--------|
| `RecoveryStarted` | F11 | F02 | Update status to "recovering" |
| `RecoverySucceeded` | F11 | F02 | Update status to "processing", resume |
| `RecoveryFailed` | F11 | F02 | Update status to "blocked" |
| `UserInputNeeded` | F11 | F02 | Update status to "blocked", await fix |
| `UserFixApplied` | F11 | F02 | Update status to "processing", resume |
| `ChunkCreated` | F11 | F02 | Log chunk creation |
| `ChunkAnchored` | F11 | F02 | Log chunk anchor |
| `ChunkMerged` | F11 | F02, F14 | F14 updates results for merged frames |
| Action | Caller | Called | Return/Outcome |
|--------|--------|--------|----------------|
| `start_search` | F02.2 | F11 | `SearchSession` object |
| `try_current_grid` | F02.2 | F11 | `AlignmentResult` (or None) |
| `create_user_input_request` | F02.2 | F11 | `UserInputRequest` object |
| `apply_user_anchor` | F02.2 | F11 | Success boolean |
F02.2 is responsible for updating the flight status (e.g., "recovering", "blocked", "processing") based on these return values.
---
@@ -880,4 +894,3 @@ F11 Failure Recovery Coordinator emits events instead of directly calling F02:
| Mean Reprojection Error | < 1.0 pixels |
| Place Recognition Recall@5 | > 85% |
| LiteSAM Success Rate | > 95% (when rotation correct) |