[project]
name = "gps-denied-onboard"
version = "0.1.0"
description = "GPS-denied UAV geolocalization service"
requires-python = ">=3.11"
dependencies = [
    "fastapi",
    "uvicorn[standard]",
    "pydantic>=2",
    "pydantic-settings>=2",
    "sqlalchemy>=2",
    "alembic>=1.14",
    "sse-starlette>=2.0",
    "aiosqlite>=0.20",
    "python-multipart>=0.0.9",
    "httpx>=0.27",
    "diskcache>=5.6",
    "numpy>=1.26,<2.0",  # NumPy 2.0 silently breaks GTSAM Python bindings (issue #2264)
    "opencv-python-headless>=4.9,<4.11",  # 4.11+ requires numpy>=2.0 (incompatible with GTSAM)
    "orjson>=3.10",
    "gtsam>=4.3a0",
    "pymavlink>=2.4",
    "pyyaml>=6.0",
    "structlog>=25.1,<26",
]

[project.optional-dependencies]
dev = [
    "ruff>=0.9",
    "pytest>=8.0",
    "pytest-asyncio>=0.24",
    "httpx>=0.28",
]

[build-system]
requires = ["setuptools>=75"]
build-backend = "setuptools.build_meta"

[tool.setuptools.packages.find]
where = ["src"]

[tool.ruff]
target-version = "py311"
line-length = 120

[tool.ruff.lint.per-file-ignores]
# Abstract interfaces have long method signatures — allow up to 170
"src/gps_denied/core/factor_graph.py" = ["E501"]
"src/gps_denied/components/satellite_matcher/metric_refinement.py" = ["E501"]
"src/gps_denied/core/chunk_manager.py" = ["E501"]

[tool.ruff.lint]
select = ["E", "F", "I", "W"]

[tool.pytest.ini_options]
testpaths = ["tests"]
asyncio_mode = "auto"
# --strict-markers makes unregistered @pytest.mark.<x> fail collection rather than warn.
# Per Phase 2 / TEST-02 contract; do not weaken without an explicit Phase 2 retrospective entry.
addopts = "--strict-markers"
markers = [
    # Phase 2 / TEST-01 taxonomy
    "unit: pure-math or single-class test; only mocks; no I/O / no real DB / no real engines / no SITL; runs in <1s",
    "integration: cross-subsystem (in-memory SQLite, ASGI transport, full FlightProcessor wiring across >=3 real components); no external process",
    "blackbox: validates an external contract (e.g. MAVLink GPS_INPUT wire encoding per MAVLink #232) without a live producer",
    "sitl: requires ARDUPILOT_SITL_HOST env var; talks to an ArduPilot SITL process over MAVLink; nightly-only",
    "e2e: full-pipeline run against a real dataset (EuRoC, VPAIR, MARS-LVIG, Azaion) or its synthetic stand-in via E2EHarness; nightly-only",
    # Phase 2 / TEST-03 traceability
    "ac(ac_id): link test to one or more Acceptance Criteria (e.g. AC-1.1, AC-NEW-3); validated against _docs/00_problem/acceptance_criteria.md by scripts/gen_ac_traceability.py",
    # Pre-existing (kept verbatim)
    "e2e_slow: e2e test that takes > 2 minutes, nightly-only",
    "needs_dataset: test requires an external dataset to be downloaded",
]