mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-22 18:11:14 +00:00
59f56c032f3789d5173109b19c50309a4ace11a9
4 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Oleksandr Bezdieniezhnykh
|
59f56c032f |
[AZ-301] Implement EngineGate — D-C10-3 + D-C10-7 takeoff validator
AZ-301 takeoff-side validator every InferenceRuntime strategy calls
before deserialize_engine. Five-step deterministic refusal pipeline,
in order:
1. filename schema parse -> EngineSchemaMismatchError(reason=...)
2. schema tuple match -> EngineSchemaMismatchError(expected,got)
3. sidecar present -> EngineSidecarMissingError
4. sidecar trust -> EngineHashMismatchError(stage=sidecar)
5. manifest match -> EngineHashMismatchError(stage=manifest)
Refusal order is part of the public contract (AC-7 verifies a
fixture that is BOTH schema-mismatched AND missing-sidecar refuses
at step 1).
Production code (new):
- components/c7_inference/engine_gate.py -- EngineGate, HostTuple,
read_host_tuple (Jetson: pynvml + /etc/nv_tegra_release +
tensorrt.__version__; raises RuntimeError on Tier-1)
- components/c7_inference/manifest.py -- DeploymentManifest,
ManifestReader, ManifestReaderProtocol. Risk-2 enforced at the
type level: __getitem__ raises EngineHashMismatchError on
missing key, NEVER KeyError, so the gate cannot silently pass
- components/c7_inference/__init__.py -- re-exports the new
public surface
Tests (new): tests/unit/c7_inference/test_engine_gate.py covers
AC-1..AC-7 + NFR-reliability-no-write + manifest reader + refusal
log emission. 14 tests unconditional + AC-8 Tier-2 skip (needs
real NVML + L4T release file + tensorrt binding).
Three task-spec -> as-built deltas documented in
_docs/02_tasks/done/AZ-301_c7_engine_gate.md Implementation Notes:
1. HostTuple lives in engine_gate.py (the only consumer);
re-exported from package __init__.py.
2. read_host_tuple takes precision as a keyword argument — three
of four fields come from the host, precision is engine-build
metadata supplied by the caller.
3. AC-8 is Tier-2-only; AC-1..AC-7 + NFR-reliability + extras
run on every CI host.
Risk-2 (manifest reader silently treats missing entry as pass):
DeploymentManifest.__getitem__ raises EngineHashMismatchError with
"missing manifest entry for {path}" — covered by
test_manifest_missing_entry_raises_hash_mismatch.
NFR-perf-validate (p99 <= 50 ms): tier-2 only — a real 500 MB
engine streaming sha256 cannot be benchmarked on Tier-1 fixtures.
AZ-302 (ThermalStatePublisher) + AZ-304 (C6 Postgres schema)
deferred to batches 26 / 27 to keep the 1-task batch cadence and
isolate their respective env / testcontainer surface areas.
Suite: 1134 passed / 11 skipped. No regressions outside the new
files.
Co-authored-by: Cursor <cursoragent@cursor.com>
|
||
|
Oleksandr Bezdieniezhnykh
|
65ad2168ed |
[AZ-300] Implement PytorchFp16Runtime — C7 simple-baseline strategy
AZ-300 mandatory simple-baseline InferenceRuntime (eager FP16 PyTorch).
Implements the AZ-297 Protocol; current_runtime_label returns
"pytorch_fp16". Numerical reference every fancier C7 strategy (AZ-298
TRT, AZ-299 ORT) is measured against, and the only viable runtime for
Tier-1 workstation Docker where TRT is non-trivial to install.
Production code (new):
- components/c7_inference/pytorch_fp16_runtime.py — runtime +
PytorchEngineHandle + output-shape adapter
- components/c7_inference/architecture_registry.py — torch-free
register_architecture / default_registry / ArchitectureFactory
(Risk-1 mitigation: no L2->L3 back-edge from C7 into per-backbone
code)
- components/c7_inference/__init__.py — re-exports the registry
mechanism. Still does NOT import the concrete strategy module
(Invariant I-5)
- components/c7_inference/config.py — adds per_frame_debug_log bool
field (gates the DEBUG per-frame latency log)
Tests (new): tests/unit/c7_inference/test_pytorch_fp16_runtime.py
covers AC-1..AC-8 + NFRs. AC-1/2/6/7 + thermal/release/registry
guards run unconditionally (17 tests); AC-3/4/5/8 +
NFR-perf-deserialize + NFR-reliability-eval-mode require CUDA and
skip on Tier-1 CI / macOS dev.
Tests (modified):
- test_protocol_conformance.py — narrowed
test_ac5_build_inference_runtime_flag_on_but_module_missing
parametrisation to exclude pytorch_fp16 (now-built); TRT / ORT
still covered until AZ-298 / AZ-299 ship.
CI: .github/workflows/ci.yml lint + unit jobs now install
'-e .[dev,inference]' because mypy + pytest need torch + torchvision +
onnxruntime on the runner.
Three task-spec -> as-built deltas documented in
_docs/02_tasks/done/AZ-300_c7_pytorch_baseline.md Implementation Notes:
1. Constructor conforms to AZ-297 factory shape (config positional;
thermal_publisher + registry + clock keyword-only optionals).
AZ-302 will update the factory to thread thermal_publisher.
2. Architecture registry uses extras["model_name"] as lookup key
(avoids touching the frozen BuildConfig / EngineCacheEntry DTOs).
3. Warm-up forward deferred to AZ-300 tier-2 follow-up — the zero-arg
registry has no per-backbone input-shape metadata.
Suite: 1120 passed / 10 skipped (CUDA + Tier-2 + cmake / actionlint
environment gates). No regressions in non-c7_inference areas.
Co-authored-by: Cursor <cursoragent@cursor.com>
|
||
|
Oleksandr Bezdieniezhnykh
|
daff5d4d1c |
[AZ-297] C7 InferenceRuntime: Protocol + DTOs + factory
Freezes the c7_inference Public API per _docs/02_document/contracts/c7_inference/inference_runtime_protocol.md v1.0.0: - InferenceRuntime Protocol (6 methods: compile_engine, deserialize_engine, infer, release_engine, thermal_state, current_runtime_label) in components/c7_inference/interface.py. - DTOs (PrecisionMode enum, OptimizationProfile, BuildConfig, EngineCacheEntry, EngineHandle opaque marker) in _types/inference.py — placed at the L1 types layer so C10 can re-export EngineCacheEntry without crossing the components.* boundary (AZ-270 AC-6). - ThermalState DTO expanded in _types/thermal.py from the AZ-355 forward-declared stub to the AZ-297 contract shape (cpu/gpu temp, thermal_throttle_active, measured_clock_mhz, measured_at_ns, is_telemetry_available). Invariant I-6: when telemetry is unavailable, throttle is False. - Error family rooted at c7_inference.errors.RuntimeError (9 subtypes: EngineBuildError, EngineDeserializeError, EngineHashMismatchError, EngineSchemaMismatchError, EngineSidecarMissingError, CalibrationCacheError, InferenceError, OutOfMemoryError, TelemetryUnavailableError). RuntimeNotAvailableError stays in runtime_root/errors.py — composition-time, outside the family. - C7InferenceConfig per-component config block (runtime label, thermal_poll_hz, engine_cache_dir) with constructor-time validation rejecting unknown runtime labels. - Composition-root factory build_inference_runtime in runtime_root/inference_factory.py with three BUILD_* gates (BUILD_TENSORRT_RUNTIME, BUILD_ONNX_TRT_EP_RUNTIME, BUILD_PYTORCH_FP16_RUNTIME). Concrete strategy modules are imported lazily via __import__ AFTER the flag check, so a Tier-0 build with the flag OFF MUST NOT load the strategy module (AC-5 / I-5; verifiable via sys.modules). - 37 conformance tests cover all 8 ACs + NFR-perf-factory (p99 build under 200 ms × 1000 calls) + NFR-reliability-error-family. AC-8 introspects the contract file's Shape table and asserts method parity against the runtime Protocol; also asserts all 9 error subtypes are documented. Retired the AZ-263 scaffolding EngineCacheEntry from _types/manifests.py (replaced by the AZ-297 canonical shape in _types/inference.py); updated the LightGlue-flavoured EngineHandle Protocol docstring in _types/manifests.py to rationalize its intentional dual existence with the C7 opaque EngineHandle (same name, different consumer-side cut, mirroring the C4/C5 ISam2GraphHandle pattern). Stale ThermalState.throttle docstring references in c4_pose/config.py, c4_pose/interface.py, and _types/pose.py updated to thermal_throttle_active. Full unit-test sweep: 843 passed, 2 pre-existing environment skips (cmake, actionlint). Co-authored-by: Cursor <cursoragent@cursor.com> |
||
|
Oleksandr Bezdieniezhnykh
|
b12db61444 |
[AZ-263] Bootstrap: repo skeleton + Docker + CI + Alembic + Tier-1 tests
Implements the AZ-263 / E-BOOT initial structure task:
- Python src/-layout package `gps_denied_onboard/` with per-component
interface stubs (14 components), type-only DTOs under `_types/`,
shared helpers under `helpers/` (R14 LightGlue ownership), structured
JSON logging, runtime composition root with env-var fail-fast gate,
healthcheck module shared by Docker and CI smoke.
- CMake top-level + `cmake/{build_options,dependencies,strategies}.cmake`
with the BUILD_* per-binary flags (ADR-002) and pinned external git
refs for OKVIS2 / VINS-Mono / GTSAM / FAISS / OpenCV >=4.12.0.
- Three Dockerfiles (companion-tier1, operator-tooling,
mock-suite-sat-service) + two compose files (dev + Tier-1 test).
- Four GitHub Actions workflows: ci.yml (lint/unit/integration/dual
binary build/SBOM diff/security), ci-tier2.yml (self-hosted Jetson
AC-bound NFTs), release.yml, cve-rescan.yml.
- Two CI gate scripts: `ci/sbom_diff.py` (deployment SBOM subset +
R02 exclusion), `ci/opencv_pin_gate.py` (>=4.12.0 enforcement,
D-CROSS-CVE-1).
- Alembic-driven Postgres 16 initial migration `0001_initial.py`
mirroring satellite-provider tiles + flights + sector_classifications
+ manifests + engine_cache_entries (data_model.md s 2).
- Tier-1 test scaffolding: 95 passing unit tests covering every AC,
per-component smoke tests, structured logging JSON output check,
env-var gate check, healthcheck import check. Two CI-gated tests
(cmake configure, actionlint) skip locally with explicit reasons.
- Batch report + code review report under `_docs/03_implementation/`.
Verdict: PASS_WITH_WARNINGS (two Low findings, both informational).
Co-authored-by: Cursor <cursoragent@cursor.com>
|