gps-denied-onboard

azaion/gps-denied-onboard

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Author	SHA1	Message	Date
Oleksandr Bezdieniezhnykh	89c223882b	[AZ-344] C3 CrossDomainMatcher Protocol + factory + RollingHealthWindow Defines the public `CrossDomainMatcher` Protocol (PEP 544 @runtime_checkable, two methods: `match` + `health_snapshot`), the three frozen+slotted DTOs (`CandidateMatchSet`, `MatchResult`, `MatcherHealth`) in the L1 `_types/matcher.py` layer, the `MatcherError` family (`MatcherBackboneError`, `InsufficientInliersError`), and the composition-root `build_matcher_strategy` factory with lazy-import + `BUILD_MATCHER_<variant>` gating per ADR-002. `RollingHealthWindow` accumulator (60 s, amortised O(1) update, strict O(1) snapshot) is constructed by the factory and injected into every concrete matcher so all backbones share window semantics; this is what backs C5's spoof-promotion gate. Legacy placeholder `MatchResult` removed from `_types/matching.py`; import-only consumers (`c4_pose.interface`, `c3_5_adhop.interface`) repointed at the new `_types/matcher.py` home — zero behavioural change to those components. AC-9 (single-thread binding) and AC-10 (LightGlueRuntime identity-share with C2.5) deferred to AZ-270 runtime-root composition, mirroring the AZ-342 Risk-4 escape clause. All other ACs + NFRs covered by 70 new conformance tests. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-05-12 05:43:33 +03:00
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>	2026-05-11 01:00:28 +03:00

Author

SHA1

Message

Date

Oleksandr Bezdieniezhnykh

89c223882b

[AZ-344] C3 CrossDomainMatcher Protocol + factory + RollingHealthWindow

Defines the public `CrossDomainMatcher` Protocol (PEP 544
@runtime_checkable, two methods: `match` + `health_snapshot`),
the three frozen+slotted DTOs (`CandidateMatchSet`, `MatchResult`,
`MatcherHealth`) in the L1 `_types/matcher.py` layer, the
`MatcherError` family (`MatcherBackboneError`,
`InsufficientInliersError`), and the composition-root
`build_matcher_strategy` factory with lazy-import +
`BUILD_MATCHER_<variant>` gating per ADR-002.

`RollingHealthWindow` accumulator (60 s, amortised O(1) update,
strict O(1) snapshot) is constructed by the factory and injected
into every concrete matcher so all backbones share window
semantics; this is what backs C5's spoof-promotion gate.

Legacy placeholder `MatchResult` removed from `_types/matching.py`;
import-only consumers (`c4_pose.interface`, `c3_5_adhop.interface`)
repointed at the new `_types/matcher.py` home — zero behavioural
change to those components.

AC-9 (single-thread binding) and AC-10 (LightGlueRuntime
identity-share with C2.5) deferred to AZ-270 runtime-root
composition, mirroring the AZ-342 Risk-4 escape clause. All other
ACs + NFRs covered by 70 new conformance tests.

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-05-12 05:43:33 +03:00

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>

2026-05-11 01:00:28 +03:00

2 Commits