mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 21:51:13 +00:00
Oleksandr Bezdieniezhnykh
a61d2d3f4b
Adds the C8 inbound producer side: - TelemetryRing[T]: bounded drop-oldest ring; first-overflow INFO log + monotonic dropped_count. - SubscriptionBus + SubscriptionHandle: synchronous fan-out, lock- released-before-callback to avoid deadlock; subscriber crash caught + DEBUG-logged so one bad subscriber cannot kill the decode loop. - PymavlinkInboundDecoder: pymavlink-based AP decoder for RAW_IMU, SCALED_IMU2, ATTITUDE, GPS_RAW_INT, GPS2_RAW, HEARTBEAT, STATUSTEXT. Out-of-order drop (Invariant 7) per-kind WARN. STATUSTEXT spoofing sentinel promotes subsequent GPS to GpsStatus.SPOOFED within 5 s. AC-5.1 warm-start hint cached on first 3D+ fix; embedded into every FlightStateSignal. - Msp2InavInboundDecoder: YAMSPy-based iNav polling decoder for IMU / attitude / GPS / flight-state. signed=False always (RESTRICT-COMM-2); GpsStatus.SPOOFED is unreachable on iNav. Adds yamspy>=0.3.3 + pyserial>=3.5 to pyproject.toml. Tests: 443 pass / 2 skip / 0 fail (+33 in batch 9). Contract: no drift on fc_adapter_protocol.md v1.0.0; this batch implements the inbound producer side without changing signatures. Co-authored-by: Cursor <cursoragent@cursor.com>
123 lines
3.4 KiB
TOML
123 lines
3.4 KiB
TOML
[build-system]
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requires = ["setuptools>=68", "wheel"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "gps-denied-onboard"
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version = "0.1.0"
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description = "Companion onboard system for GPS-denied UAV navigation"
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readme = "README.md"
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requires-python = ">=3.10,<3.12"
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license = {text = "Proprietary"}
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authors = [{name = "AZAION onboard team"}]
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dependencies = [
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"numpy>=1.26,<2.0",
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"scipy>=1.11,<2.0",
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"pyyaml>=6.0",
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"pydantic>=2.5,<3.0",
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# OpenCV pin gate originally enforced >= 4.12.0 (D-CROSS-CVE-1). Held to
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# 4.11.x while gtsam (4.2 on PyPI) only ships numpy-1.x wheels and
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# opencv-python>=4.12 mandates numpy>=2. See
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# _docs/_process_leftovers/<dated>_d_cross_cve_1_deferred.md — the gate
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# will be restored to >=4.12.0 once a numpy-2-compatible gtsam wheel is
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# available.
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"opencv-python>=4.11.0.86,<4.12",
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"psycopg[binary]>=3.1",
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"sqlalchemy>=2.0",
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"alembic>=1.13",
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"pymavlink>=2.4",
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# iNav MSP2 wire decoder for C8 inbound (AZ-391). MSPy is request-response
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# on a serial transport; AP uses pymavlink for the same role.
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"yamspy>=0.3.3,<0.4",
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"pyserial>=3.5",
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"requests>=2.31",
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"structlog>=24.1",
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"click>=8.1",
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# SE(3) math backend for helpers.se3_utils + C1/C2.5/C3/C3.5/C4/C5/C8 consumers (AZ-264 / AZ-277).
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"gtsam>=4.2,<5.0",
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# Atomic-rename backend for helpers.sha256_sidecar (D-C10-3, AZ-280).
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"atomicwrites>=1.4,<2.0",
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# WGS84 geodesy backend for helpers.wgs_converter (AZ-264 / AZ-279).
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"pyproj>=3.6,<4.0",
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# FDR wire format for fdr_client.records (E-CC-FDR-CLIENT / AZ-272).
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"orjson>=3.9,<4.0",
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]
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[project.optional-dependencies]
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dev = [
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"pytest>=7.4",
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"pytest-cov>=4.1",
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"pytest-asyncio>=0.23",
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"ruff>=0.4",
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"mypy>=1.8",
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"types-PyYAML",
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"types-requests",
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]
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inference = [
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"torch>=2.2",
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"torchvision>=0.17",
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"onnxruntime>=1.17",
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# tensorrt is installed out-of-band on Jetson — not a pip dep
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]
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indexing = [
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"faiss-cpu>=1.7",
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]
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[project.scripts]
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gps-denied-replay = "gps_denied_onboard.cli.replay:main"
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[tool.setuptools]
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package-dir = {"" = "src"}
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[tool.setuptools.packages.find]
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where = ["src"]
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include = ["gps_denied_onboard*"]
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[tool.pytest.ini_options]
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minversion = "7.0"
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testpaths = ["tests"]
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pythonpath = ["src"]
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# log_schema.py is the contract-mandated file name (AZ-245 AC-4); kept
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# in python_files so the contract test is discovered alongside the
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# standard `test_*.py` pattern.
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python_files = ["test_*.py", "*_test.py", "log_schema.py"]
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addopts = [
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"--strict-markers",
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"-ra",
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]
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markers = [
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"tier2: tests that require Jetson hardware (auto-skipped on Tier-1)",
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"gpu: tests that require an NVIDIA GPU",
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"docker: tests that require Docker compose services",
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"ardupilot_sitl: tests that require ArduPilot SITL container",
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"slow: tests slower than ~5s",
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"contract: contract-suite test (frozen public surfaces)",
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]
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[tool.coverage.run]
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source = ["src/gps_denied_onboard"]
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branch = true
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[tool.coverage.report]
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show_missing = true
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skip_covered = false
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[tool.ruff]
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line-length = 100
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target-version = "py310"
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src = ["src", "tests"]
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[tool.ruff.lint]
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select = ["E", "F", "W", "I", "B", "UP", "RUF"]
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ignore = ["E501"]
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[tool.mypy]
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python_version = "3.10"
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strict = true
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warn_unused_ignores = true
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warn_return_any = true
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ignore_missing_imports = true
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mypy_path = "src"
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packages = ["gps_denied_onboard"]
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