mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:31:13 +00:00
Oleksandr Bezdieniezhnykh
2c31cc094f
Implements the replay-mode CLI dispatcher per ADR-011 (replay-as- configuration): - src/gps_denied_onboard/cli/replay.py: argparse with all 6 required args (--video, --tlog, --output, --camera-calibration, --config, --mavlink-signing-key) plus --pace and --time-offset-ms; path validation, calibration JSON schema-validation, config mutation (mode='replay' + replay sub-block + signing-key hex on dev_static field), dispatch into runtime_root.main(config). - runtime_root.main() now accepts an optional Config (additive, backward-compat). Adds dedicated catch for ReplayInputAdapterError mapping to EXIT_FDR_OPEN_FAILURE (2) so the CLI's exit-code matrix holds end-to-end (AC-9 + epic AZ-265 AC-8). - Signing-key contents stored as hex; redacted in startup banner. - Top-level except logs full traceback via logger.exception + stderr print and exits 1. The CLI does NOT call compose_root directly — it builds a Config and hands it to the shared airborne main, which calls compose_root, which branches on config.mode (AZ-401 / replay protocol Invariant 11). Tests: 22 unit tests covering AC-1..AC-10 + extras (signing-key redaction, file-not-dir validation, dev_static propagation, unhandled exception traceback). Full regression: 2085 passed (+22) green; no new flaky tests. 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-orchestrator, 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.