gps-denied-onboard/docker-compose.test.jetson.yml

# Tier-2 e2e harness — Jetson Orin Nano (JetPack 6.x, L4T R36.x).
#
# AZ-615: companion compose file to `docker-compose.test.yml` that runs
# the full Reality Gate on a CUDA-capable host. Used via `ssh jetson-e2e
# "docker compose -f docker-compose.test.jetson.yml up ..."` driven by
# `scripts/run-tests-jetson.sh`.
#
# Difference vs. docker-compose.test.yml:
#   * `runtime: nvidia` + `gpus: all` on `e2e-runner` so the SUT can
#     resolve `model.half().cuda()` against the Orin GPU.
#   * `GPS_DENIED_TIER=2` — turns OFF the auto-skip for `@pytest.mark.tier2`
#     ACs (see tests/conftest.py:31-44). The heavy ACs (AC-1, AC-2, AC-3,
#     AC-5, AC-6) actually run.
#   * Builds from `tests/e2e/Dockerfile.jetson` (l4t-pytorch base).
#   * Companion / db / mock-sat continue to come from the root
#     `docker-compose.yml` via `extends:` (same as Colima) — they have ARM64
#     tags via the existing build pipeline.
#
# AZ-688 (sibling of AZ-616): the real satellite-provider .NET service is
# defined inline below (services.satellite-provider + services.satellite-
# provider-postgres). `run-tests-jetson.sh` rsyncs `../satellite-provider/`
# to a sibling directory on the Jetson so the build context resolves
# identically on the workstation and on the Jetson.
#
# Why inline instead of `include: ../satellite-provider/docker-compose.yml`:
# Compose's `include:` rejects same-name service overrides ("conflicts with
# imported resource"). We need to customize the api service (healthcheck,
# network alias, internal-only ports) so the upstream compose's verbatim
# `include:` doesn't work. Inline is cleaner than the multi-`-f` ordering
# games required to make overlay precedence work.
#
# `mock-sat` remains in the graph for now — AZ-692 retires it once the
# gps-denied client (AZ-691) lands.

services:
  # ------------------------------------------------------------------
  # Init services (profiles: [setup]) — NOT started by the default
  # `docker compose up`. They are invoked explicitly as one-shot jobs
  # via `docker compose run --rm --profile setup <service>` before the
  # main harness run:
  #
  #   1. db-migrate  — applies Alembic migrations so companion's
  #      FreshnessGate / PostgresFilesystemStore find their tables.
  #      (AZ-618 ordering gap: build_pre_constructed queries the DB
  #      before the composition root can call apply_migrations.)
  #
  #   2. tile-init   — writes a minimal valid HNSW32 FAISS descriptor
  #      index into the tile-data volume so FaissDescriptorIndex._load()
  #      succeeds during build_pre_constructed.
  #      (AZ-618 gap: the production provisioning pipeline normally
  #      writes the index; in the test harness it must pre-exist.)
  #
  # They are in profile "setup" so they do not participate in the
  # default `docker compose up` and do not trip --abort-on-container-exit.
  # ------------------------------------------------------------------
  db-migrate:
    profiles: ["setup"]
    image: gps-denied-onboard/e2e-runner:jetson
    entrypoint: ["alembic"]
    command: ["upgrade", "head"]
    working_dir: /opt/project
    volumes:
      - .:/opt/project:ro
    depends_on:
      db:
        condition: service_healthy
    restart: "no"

  tile-init:
    profiles: ["setup"]
    image: gps-denied-onboard/e2e-runner:jetson
    entrypoint: ["python3"]
    command: ["/opt/project/scripts/mk_test_faiss_fixture.py"]
    volumes:
      - .:/opt/project:ro
      - tile-data:/var/lib/gps-denied/tiles
    restart: "no"

  # companion and operator-orchestrator are intentionally absent from
  # the Jetson e2e test harness.
  #
  # Every test in tests/e2e/replay/ invokes the ``gps-denied-replay``
  # console-script directly as a subprocess and does not call the
  # companion or operator-orchestrator HTTP APIs. Including either
  # service caused the harness to abort before any test could run:
  #
  # * companion crashes at startup because live-mode requires a
  #   production-provisioned C7 inference engine (PyTorch FP16 or
  #   TensorRT) that is absent from the test environment. This is the
  #   pre-existing AZ-618 gap (build_pre_constructed fails before the
  #   composition root can apply_migrations + engine artifacts).
  # * operator-orchestrator crashed for the same C7 inference reason.
  #
  # When the AZ-618 epic ships the full airborne boot-up in a sandboxed
  # environment (Phase E / engine stubs), companion can be re-added here.

  db:
    extends:
      file: docker-compose.yml
      service: db

  e2e-runner:
    build:
      context: .
      dockerfile: tests/e2e/Dockerfile.jetson
    image: gps-denied-onboard/e2e-runner:jetson
    # nvidia-container-runtime exposes the Tegra GPU + libcuda mounts.
    # Without this block the container starts but `torch.cuda.is_available()`
    # returns False and every tier2 AC errors at `.cuda()`.
    runtime: nvidia
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]
    depends_on:
      db:
        condition: service_healthy
      satellite-provider:
        condition: service_healthy
    environment:
      # Same FullSystemConfig env block as Colima — see comments in
      # docker-compose.test.yml for the per-var rationale.
      GPS_DENIED_FC_PROFILE: ardupilot_plane
      # Tier-2 turns OFF the `tier2` / `gpu` auto-skip in tests/conftest.py
      # so the heavy ACs in tests/e2e/replay/test_derkachi_1min.py actually
      # execute. This is the WHOLE POINT of the Jetson harness.
      GPS_DENIED_TIER: "2"
      DB_URL: postgresql://gps_denied:dev@db:5432/gps_denied
      # AZ-777 Phase 1: e2e-runner consumes the real parent-suite
      # satellite-provider .NET service over its compose-DNS name. The
      # dev TLS cert is self-signed against `localhost`, so the suite-
      # internal probe must skip cert verification — see SECURITY note
      # in `.env.test.example`. Production deploys ship a real CA-issued
      # cert and MUST set SATELLITE_PROVIDER_TLS_INSECURE="0" (or omit it).
      SATELLITE_PROVIDER_URL: https://satellite-provider:8080
      SATELLITE_PROVIDER_TLS_INSECURE: "1"
      SATELLITE_PROVIDER_API_KEY: ${SATELLITE_PROVIDER_API_KEY:?SATELLITE_PROVIDER_API_KEY must be set via .env.test — see scripts/mint_dev_jwt.py}
      # AZ-777 Phase 1 also forwards the JWT triple so the smoke test
      # can mint its own dev token in-container as a fallback when
      # SATELLITE_PROVIDER_API_KEY is rotated mid-session.
      JWT_SECRET: ${JWT_SECRET}
      JWT_ISSUER: ${JWT_ISSUER}
      JWT_AUDIENCE: ${JWT_AUDIENCE}
      COMPANION_URL: http://companion:8080
      CAMERA_CALIBRATION_PATH: /opt/tests/fixtures/calibration/adti26.json
      LOG_LEVEL: INFO
      LOG_SINK: console
      INFERENCE_BACKEND: pytorch_fp16
      FDR_PATH: /var/lib/gps-denied/fdr
      TILE_CACHE_PATH: /var/lib/gps-denied/tiles
      MAVLINK_SIGNING_KEY: /opt/tests/fixtures/mavlink_signing/dev_key
      RUN_REPLAY_E2E: "1"
      # Replay-mode build flags (Invariant 9). See identical block in
      # docker-compose.test.yml — all three are required for the
      # composition root to construct the replay strategies. The
      # original harness only set BUILD_REPLAY_SINK_JSONL because
      # every Reality-Gate run died at auto-sync before the other
      # two flags were checked.
      BUILD_VIDEO_FILE_FRAME_SOURCE: "ON"
      BUILD_TLOG_REPLAY_ADAPTER: "ON"
      BUILD_REPLAY_SINK_JSONL: "ON"
      # AZ-894 / AZ-895: the CSV-driven path is now the PRIMARY replay
      # surface (auto-sync was deprecated). `_replay_branch._build_csv_bundle`
      # constructs `CsvReplayFcAdapter`, which fails fast at __init__ when
      # this flag is OFF — every test in tests/e2e/replay/ that runs the
      # `replay_runner` fixture trips that gate without this line.
      BUILD_CSV_REPLAY_ADAPTER: "ON"
      BUILD_FAISS_INDEX: "ON"
      # AZ-964: build_inference_runtime gates pytorch_fp16 behind
      # this flag. The dustynv/l4t-pytorch base image bakes the
      # Tegra-tuned PyTorch wheel, so the strategy module imports
      # cleanly when the flag is ON. build_engine_compiler (called
      # by the AZ-839 fixture) requires c7 inference runtime, so
      # the flag must be ON for the orchestrator test to run.
      BUILD_PYTORCH_FP16_RUNTIME: "ON"
      # AZ-962: the AZ-839 C3 fixture (operator_pre_flight_setup) skips
      # the AZ-840 orchestrator test when this var is missing. The YAML
      # bind-mounted at /opt/configs/operator_replay.yaml declares the
      # four blocks the fixture consumes (c6/c7/c10/c11). c10.backbones
      # is intentionally empty — AZ-964 ships the .onnx + populates it.
      GPS_DENIED_OPERATOR_CONFIG_PATH: /opt/configs/operator_replay.yaml
    volumes:
      - ./tests:/opt/tests:ro
      - ./_docs/00_problem/input_data:/opt/_docs/00_problem/input_data:ro
      - ./configs:/opt/configs:ro
      - ./models:/opt/models:ro
      - fdr-data:/var/lib/gps-denied/fdr
      - tile-data:/var/lib/gps-denied/tiles

  # AZ-688: real satellite-provider .NET service. Mirrors the upstream
  # compose at ../satellite-provider/docker-compose.yml with three
  # deliberate customizations:
  #   * service name = `satellite-provider` (clearer than the upstream's
  #     generic `api`) so AZ-692's client uses https://satellite-provider:8080
  #   * TCP-level healthcheck via bash /dev/tcp so other services can
  #     `depends_on: service_healthy`. The base image
  #     (mcr.microsoft.com/dotnet/aspnet:10.0, debian-12-slim) ships
  #     bash and /dev/tcp is a bash builtin; no extra package needed.
  #   * no host port mappings — internal-only access via compose DNS;
  #     keeps host ports free for nested e2e runs.
  satellite-provider:
    build:
      context: ../satellite-provider
      dockerfile: SatelliteProvider.Api/Dockerfile
    image: gps-denied-onboard/satellite-provider:dev
    container_name: gps-denied-e2e-satellite-provider
    environment:
      ASPNETCORE_ENVIRONMENT: Development
      ASPNETCORE_URLS: https://+:8080
      ASPNETCORE_Kestrel__Certificates__Default__Path: /app/certs/api.pfx
      ASPNETCORE_Kestrel__Certificates__Default__Password: satellite-dev-cert
      ConnectionStrings__DefaultConnection: Host=satellite-provider-postgres;Port=5432;Database=satelliteprovider;Username=postgres;Password=postgres
      MapConfig__ApiKey: ${GOOGLE_MAPS_API_KEY:-}
      # Suite JWT contract — see _docs/10_auth.md. Sourced from .env.test
      # via run-tests-jetson.sh; the API fails fast at startup if any of
      # the three are missing or whitespace-only.
      JWT_SECRET: ${JWT_SECRET:?JWT_SECRET must be set via .env.test}
      JWT_ISSUER: ${JWT_ISSUER:?JWT_ISSUER must be set via .env.test}
      JWT_AUDIENCE: ${JWT_AUDIENCE:?JWT_AUDIENCE must be set via .env.test}
    volumes:
      - ../satellite-provider/certs/api.pfx:/app/certs/api.pfx:ro
      - ../satellite-provider/tiles:/app/tiles
      - ../satellite-provider/ready:/app/ready
      - ../satellite-provider/logs:/app/logs
    healthcheck:
      test: ["CMD", "bash", "-c", "exec 3<>/dev/tcp/127.0.0.1/8080"]
      interval: 5s
      timeout: 3s
      retries: 12
      start_period: 30s
    depends_on:
      satellite-provider-postgres:
        condition: service_healthy

  satellite-provider-postgres:
    image: postgres:16
    container_name: gps-denied-e2e-satellite-provider-postgres
    environment:
      POSTGRES_USER: postgres
      POSTGRES_PASSWORD: postgres
      POSTGRES_DB: satelliteprovider
    volumes:
      - satellite-provider-postgres-data:/var/lib/postgresql/data
    healthcheck:
      test: ["CMD-SHELL", "pg_isready -U postgres"]
      interval: 5s
      timeout: 5s
      retries: 5

volumes:
  db-data: {}
  fdr-data: {}
  tile-data: {}
  satellite-provider-postgres-data: {}