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Oleksandr Bezdieniezhnykh
18a69022b3
Implement the production-default InferenceRuntime strategy on JetPack 6.2 + TensorRT 10.3 (per D-C7-9). The runtime owns the full TRT lifecycle: compile_engine via the Polygraphy + trtexec + IBuilderConfig hybrid (FP16 / INT8 / Mixed precision), deserialize_engine with EngineGate-first ordering and a pre-allocation GPU memory budget gate, infer via H2D -> enqueueV3 -> D2H -> stream sync on the owned CUDA stream, idempotent release_engine, and an injected ThermalStatePublisher delegation for thermal_state. INT8 calibration cache trust (D-C10-6, AC-2/3/4) is enforced by a .calib_cache.sha256 file-integrity sidecar (AZ-280) plus a new .calib_cache.dataset_sha256 sidecar that records the dataset content hash at compile time; reuse only when both agree, rebuild silently on dataset hash mismatch, raise CalibrationCacheError on corrupt sidecar (never silently overwritten). GPU memory budget (NFT-LIM-01, default 4 GiB) is checked BEFORE any TRT call beyond the gate (AC-6); a pre-allocation refusal raises OutOfMemoryError and leaves the resident state unchanged. TensorRT 10.3 / Polygraphy / PyCUDA are lazy-imported inside the methods that need them so the module loads cleanly on Tier-0 hosts. A standalone CLI entry (python -m gps_denied_onboard.components.c7_inference.tensorrt_runtime compile <onnx> <build_config.json>) is wired for C10 CacheProvisioner (AZ-321) to invoke pre-flight without holding a runtime instance. C7InferenceConfig gains gpu_memory_budget_bytes (default 4 GiB) and trtexec_timeout_s (default 600 s, Risk 4 mitigation), both validated in __post_init__. Tests: 26 active + 6 Tier-2-gated skips; AC-1 / AC-3 / AC-4 / AC-5 / AC-6 / AC-7 / AC-10 + NFR-reliability fully covered on Tier-1 via fake CUDA / TRT modules; AC-2 / AC-8 / AC-9 / NFR-perf-deserialize placeholders skip with prerequisite reason and live in the AZ-298 Tier-2 microbench harness. Code review verdict PASS_WITH_WARNINGS (1 Medium hot-path hoist fix auto-applied). Co-authored-by: Cursor <cursoragent@cursor.com>
gps-denied-onboard
Companion onboard system for GPS-denied UAV navigation. Detailed design and architecture documentation lives under _docs/.
Quick links
- Problem statement:
_docs/00_problem/problem.md - Architecture:
_docs/02_document/architecture.md - Module layout (file ownership):
_docs/02_document/module-layout.md - Component docs:
_docs/02_document/components/ - Test specs:
_docs/02_document/tests/ - Deployment:
_docs/02_document/deployment/
Local development
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"
pytest -q tests/unit/
For full Tier-1 integration via Docker, see _docs/02_document/deployment/containerization.md.
Build matrix
Four binaries built from this codebase: airborne, research, operator-tooling, replay-cli. CMake BUILD_* flags gate component inclusion per binary — see cmake/build_options.cmake and _docs/02_document/module-layout.md § Build-Time Exclusion Map.