a61d2d3f4b
[AZ-391] C8 inbound: MAVLink + MSP2 decoders + rings + bus + warm-start
...
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 >
2026-05-11 04:28:14 +03:00
362e93c626
[AZ-390] [AZ-392] C8 FC/GCS adapter foundation + covariance projector
...
Adds the C8 foundation:
- FcAdapter / GcsAdapter / ReplaySink Protocols + contract DTOs in
_types/fc.py (PortConfig, FcKind, FlightState, GpsStatus, Severity,
TelemetryKind, FcTelemetryFrame, FlightStateSignal, GpsHealth,
OperatorCommand, Subscription, Imu/Attitude samples).
- Disjoint FcAdapterError / GcsAdapterError trees with
SourceSetSwitchNotSupportedError <: SourceSetSwitchError per AC-9.
- FcConfig + GcsConfig cross-cutting Config blocks with config-load
validation (unknown strategy rejected at __post_init__).
- runtime_root/fc_factory.py: build_fc_adapter / build_gcs_adapter
with BUILD_FC_*/BUILD_GCS_* flag gating + INFO log on load +
single-writer outbound-thread binding.
- CovarianceProjector (helper, AZ-392): 6x6 -> 3x3 -> 2x2 ->
sqrt(lambda_max) reduction; AP returns float m, iNav returns int mm
with uint16 clamp + WARN + FDR record. Non-SPD / NaN / wrong-shape
raise FcEmitError and emit an FDR ERROR record carrying frame_id.
Contracts:
- composition_root_protocol.md 1.1.0 -> 1.2.0 (added fc/gcs blocks +
build_fc_adapter / build_gcs_adapter + outbound-thread binding).
- fc_adapter_protocol.md unchanged (this batch implements v1.0.0).
Tests: 410 pass / 2 skip / 0 fail (+53 new tests in batch 8).
AZ-391 (inbound subscription) deferred to batch 9 — pulls YAMSPy as
a new external dependency (iNav MSP2 decode).
Co-authored-by: Cursor <cursoragent@cursor.com >
2026-05-11 04:17:59 +03:00
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 >
2026-05-11 01:00:28 +03:00
Oleksandr Bezdieniezhnykh