gps-denied-onboard/src/gps_denied/pipeline/composition.py

"""Env-aware pipeline composition root (ARCH-01 / ARCH-03, Plan 08).

``build_pipeline`` is the single entry point that wires all concrete adapters
into a :class:`FlightProcessor`.  Callers in ``app.py`` and ``api/deps.py``
should import this function rather than instantiating components directly.

Env-conditional wiring
----------------------
- ``env="jetson"``        → prefer_cuvslam=True,  prefer_mono_depth=True
- ``env="x86_dev"``       → prefer_cuvslam=False, prefer_mono_depth=False
- ``env="ci"``            → prefer_cuvslam=False, prefer_mono_depth=False
- ``env="sitl"``          → prefer_cuvslam=False, prefer_mono_depth=False
"""

from __future__ import annotations

import logging
from typing import Optional

from gps_denied.obs import configure_logging

logger = logging.getLogger(__name__)


def build_pipeline(
    env: str = "x86_dev",
    config=None,
    repository=None,
    streamer=None,
) -> "FlightProcessor":
    """Build and return a fully-wired :class:`FlightProcessor`.

    Parameters
    ----------
    env:
        Target runtime environment.  One of ``"jetson"``, ``"x86_dev"``,
        ``"ci"``, ``"sitl"``.
    config:
        Optional :class:`~gps_denied.config.AppSettings` instance.  When
        ``None``, a fresh ``AppSettings()`` is constructed.
    repository:
        Optional :class:`~gps_denied.db.repository.FlightRepository`.
        ``None`` is acceptable for smoke-tests / lifespan startup; ``deps.py``
        swaps in a real session-scoped instance per request.
    streamer:
        Optional :class:`~gps_denied.pipeline.sse_streamer.SSEEventStreamer`.
        Defaults to a fresh in-process instance when ``None``.

    Returns
    -------
    FlightProcessor
        Fully wired processor with all components attached.
    """
    # OBS-01: configure structlog idempotently so tests / scripts calling
    # build_pipeline directly (without app.py lifespan) still get logging configured.
    configure_logging(env=env)

    # Lazy imports to avoid circular import chains at module load time.
    from gps_denied.components.gpr.faiss_gpr import GlobalPlaceRecognition
    from gps_denied.components.mavlink_io.pymavlink_bridge import MAVLinkBridge
    from gps_denied.components.satellite_matcher.local_tile_loader import SatelliteDataManager
    from gps_denied.components.satellite_matcher.metric_refinement import MetricRefinement
    from gps_denied.components.vio.factory import create_vo_backend
    from gps_denied.core.chunk_manager import RouteChunkManager
    from gps_denied.core.coordinates import CoordinateTransformer
    from gps_denied.core.factor_graph import FactorGraphOptimizer
    from gps_denied.core.models import ModelManager
    from gps_denied.core.recovery import FailureRecoveryCoordinator
    from gps_denied.core.rotation import ImageRotationManager
    from gps_denied.pipeline.orchestrator import FlightProcessor
    from gps_denied.pipeline.sse_streamer import SSEEventStreamer
    from gps_denied.schemas.graph import FactorGraphConfig

    if config is None:
        from gps_denied.config import AppSettings
        config = AppSettings()

    if streamer is None:
        streamer = SSEEventStreamer()

    # ------------------------------------------------------------------
    # Env-conditional flags
    # ------------------------------------------------------------------
    prefer_cuvslam = env == "jetson"
    prefer_mono_depth = env == "jetson"

    # ------------------------------------------------------------------
    # Model manager — ModelManager auto-selects TRT on Jetson
    # ------------------------------------------------------------------
    mm = ModelManager(engine_dir=str(config.models.weights_dir))

    # ------------------------------------------------------------------
    # Component wiring (mirrors lifespan in app.py)
    # ------------------------------------------------------------------
    vo = create_vo_backend(
        model_manager=mm,
        prefer_cuvslam=prefer_cuvslam,
        prefer_mono_depth=prefer_mono_depth,
    )
    gpr = GlobalPlaceRecognition(mm)
    metric = MetricRefinement(mm)
    graph = FactorGraphOptimizer(FactorGraphConfig())
    chunk_mgr = RouteChunkManager(graph)
    recovery = FailureRecoveryCoordinator(chunk_mgr, gpr, metric)
    rotation = ImageRotationManager(mm)
    coord = CoordinateTransformer()
    satellite = SatelliteDataManager(tile_dir=config.satellite.tile_dir)

    # MAVLink: ci env may have no network — catch and fall back to None
    mavlink = None
    if env != "ci":
        try:
            mavlink = MAVLinkBridge(
                connection_string=config.mavlink.connection,
                output_hz=config.mavlink.output_hz,
                telemetry_hz=config.mavlink.telemetry_hz,
            )
        except Exception as exc:
            logger.warning("MAVLink bridge instantiation failed (env=%s): %s", env, exc)
    else:
        # ci: attempt anyway but tolerate failures
        try:
            mavlink = MAVLinkBridge(
                connection_string=config.mavlink.connection,
                output_hz=config.mavlink.output_hz,
                telemetry_hz=config.mavlink.telemetry_hz,
            )
        except Exception as exc:
            logger.info("MAVLink skipped in ci env: %s", exc)
            mavlink = None

    # ------------------------------------------------------------------
    # Construct processor and attach all components
    # ------------------------------------------------------------------
    from gps_denied.schemas.eskf import ESKFConfig
    eskf_config = ESKFConfig(**config.eskf.model_dump())

    processor = FlightProcessor(
        repository=repository,
        streamer=streamer,
        eskf_config=eskf_config,
    )
    processor.attach_components(
        vo=vo,
        gpr=gpr,
        metric=metric,
        graph=graph,
        recovery=recovery,
        chunk_mgr=chunk_mgr,
        rotation=rotation,
        coord=coord,
        satellite=satellite,
        mavlink=mavlink,
    )

    logger.info(
        "Pipeline built: env=%s, prefer_cuvslam=%s, prefer_mono_depth=%s, mavlink=%s",
        env, prefer_cuvslam, prefer_mono_depth,
        config.mavlink.connection if mavlink else "disabled",
    )
    return processor