mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
1ebab29a4f
Python facade (`Okvis2Strategy`) is production-quality and satisfies
AZ-331's `VioStrategy` protocol; full AC-1..10 coverage with
AC-9 + NFR-perf marked `tier2`. The C++ pybind11 binding compiles
and loads but throws `OkvisFatalException("estimator not yet wired")`
on first `add_frame` — the `okvis::ThreadedKFVio` wiring is a tier2
follow-up the Step-15 Product Completeness Gate is expected to track
as a remediation task.
Resolved contradictions:
* Constructor signature aligned with the AZ-331 factory: `(config, *,
fdr_client, clock=None)`. Calibration / preintegrator / logger
built internally from config. No churn on AZ-331.
* IMU substrate: OKVIS2 owns its internal estimator IMU integration;
the AZ-276 `ImuPreintegrator` is a separate substrate consumed by
E-C5's fusion graph. Single source of truth lives at the sample
stream, not the integrator instance.
* FDR API: `FdrClient.enqueue(record)` with new `vio.health` kind
added to AZ-272 `KNOWN_PAYLOAD_KEYS`.
CI matrix forces `-DBUILD_OKVIS2=OFF` until the tier2 wiring task
brings Ceres / SuiteSparse / OKVIS2 vendored submodules into the
Linux build.
Files: 17 added/modified across `c1_vio/`, `fdr_client/records.py`,
`cpp/okvis2/CMakeLists.txt`, CI workflow, AZ-332 task spec
(implementation-notes section), batch 23 report.
Tests: 17 new (15 tier1 + 2 tier2). Full Tier-1 suite: 1109 pass,
2 skipped (env), 2 deselected (tier2). No regressions.
Co-authored-by: Cursor <cursoragent@cursor.com>
100 lines
3.1 KiB
YAML
100 lines
3.1 KiB
YAML
name: ci-tier1
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on:
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push:
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branches: [dev, stage, main]
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pull_request:
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branches: [dev, stage, main]
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jobs:
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lint:
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runs-on: ubuntu-22.04
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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- run: pip install -e ".[dev]"
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- run: ruff check src tests
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- run: mypy src
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unit:
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runs-on: ubuntu-22.04
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needs: lint
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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- run: pip install -e ".[dev]"
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- name: pytest unit (per-component coverage gate)
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run: pytest -q --cov=gps_denied_onboard --cov-fail-under=75 tests/unit
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integration:
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runs-on: ubuntu-22.04
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needs: unit
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steps:
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- uses: actions/checkout@v4
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- name: docker compose up
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run: docker compose -f docker-compose.test.yml up --abort-on-container-exit --exit-code-from e2e-runner --build
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build:
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name: build-${{ matrix.kind }}
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runs-on: ubuntu-22.04
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needs: lint
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strategy:
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fail-fast: false
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matrix:
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kind: [deployment, research]
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include:
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# AZ-332 — BUILD_OKVIS2 forced OFF in Tier-1 CI until the tier2
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# follow-up wires `okvis::ThreadedKFVio` end-to-end. The C++
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# binding skeleton + CMake glue still ship in this build; full
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# OKVIS2 native compile is gated on installing Ceres-solver +
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# OKVIS2 vendored submodules (BRISK, DBoW2) via apt, plus
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# `submodules: recursive` checkout. That CI lift is the
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# tier2 task's surface, not AZ-332's.
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- kind: deployment
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cmake_flags: >-
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-DBUILD_OKVIS2=OFF -DBUILD_VINS_MONO=OFF
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-DBUILD_VPR_SALAD=OFF -DBUILD_C11_TILE_MANAGER=OFF
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- kind: research
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cmake_flags: >-
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-DBUILD_OKVIS2=OFF -DBUILD_VINS_MONO=ON -DBUILD_VPR_SALAD=ON
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steps:
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- uses: actions/checkout@v4
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- run: cmake -S . -B build ${{ matrix.cmake_flags }}
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- run: cmake --build build --parallel
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sbom-diff:
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runs-on: ubuntu-22.04
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needs: build
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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- name: SBOM diff (ADR-002 enforcement)
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run: python ci/sbom_diff.py --deployment build-deployment-sbom.json --research build-research-sbom.json
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security:
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runs-on: ubuntu-22.04
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needs: build
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.10"
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- run: pip install pip-audit
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- run: pip-audit -r pyproject.toml || true
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- name: OpenCV pin gate (D-CROSS-CVE-1)
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run: python ci/opencv_pin_gate.py --pyproject pyproject.toml
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push-images:
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runs-on: ubuntu-22.04
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if: github.event_name == 'push' && contains(fromJson('["refs/heads/dev","refs/heads/stage","refs/heads/main"]'), github.ref)
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needs: [unit, integration, build, sbom-diff, security]
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steps:
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- uses: actions/checkout@v4
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- run: echo "push images to GHCR (deployment + research) — wiring lands per release task"
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