mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:21:13 +00:00
Oleksandr Bezdieniezhnykh
5fe67023b2
Implements two new C12 services and rebalances the C11/C12 boundary in one atomic commit: * AZ-329 PostLandingUploadOrchestrator — gates C11 upload on the `flight_footer` FDR record's `clean_shutdown` field; 4 refusal modes; new FdrFooterReader Protocol + LocalFdrFooterReader. * AZ-330 OperatorReLocService — AC-3.4 visual-loss re-localization hint; reuses shared LatLonAlt; OperatorCommandTransport Protocol cut (E-C8 owns the future pymavlink concrete); new FDR record kind `c12.reloc.requested`; log redaction (lat/lon 5 decimals, reason 200 chars). * AZ-523 C11 internal flight-state gate removed (SRP refactor): `confirm_flight_state` / `FlightStateSignal` use / `FlightStateNotOnGroundError` deleted from C11; TileUploader contract bumped to v2.0.0 (frozen) with migration note; AZ-317 superseded. * AZ-524 Package rename `c12_operator_tooling` → `c12_operator_orchestrator` across source, tests, pyproject, CMake, Dockerfile, compose, CI, runtime-root services class (`OperatorOrchestratorServices`) + factory function (`build_operator_orchestrator`), logger namespaces, config slug, docs, and the E-C12 epic title. Tests: 1543 passed, 80 skipped (all environment gates). Targeted AC suite (AZ-329 + AZ-330 + FdrFooterReader): 37 passed. Cold-start NFR-perf still ≤ 500 ms p99. Tracker: AZ-317 → Done (superseded); AZ-319 v2.0.0 contract bump comment; AZ-329/AZ-330 → In Testing; AZ-253 epic renamed; AZ-523 + AZ-524 created and closed as audit-trail tickets. See `_docs/03_implementation/batch_44_cycle1_report.md`. Co-authored-by: Cursor <cursoragent@cursor.com>
44 lines
2.8 KiB
CMake
44 lines
2.8 KiB
CMake
# Per-binary build-time exclusion (ADR-002).
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#
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# Single source of truth for the BUILD_* flag set referenced from
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# `.github/workflows/ci.yml` and the composition-root validator in
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# `src/gps_denied_onboard/runtime_root.py`.
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# BUILD_OKVIS2 default OFF: AZ-332's pybind11 binding requires apt-installed
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# Eigen + Ceres + Brisk + DBoW2 + opengv on the host (`USE_SYSTEM_*` flags in
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# `cpp/okvis2/CMakeLists.txt`). Tier-1 / Tier-2 CI explicitly opts in via
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# `-DBUILD_OKVIS2=ON` from `.github/workflows/ci.yml`; macOS dev hosts don't
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# carry those system deps and would fail at the OpenGV/Eigen `find_package`
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# step otherwise. The C1 fake binding fixture (tests/unit/c1_vio/conftest.py)
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# keeps unit tests green without the native build.
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option(BUILD_OKVIS2 "Build C1 OKVIS2 VIO strategy" OFF)
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option(BUILD_VINS_MONO "Build C1 VINS-Mono VIO strategy" OFF)
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option(BUILD_KLT_RANSAC "Build C1 KLT/RANSAC simple baseline" ON)
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option(BUILD_VPR_ULTRA "Build C2 UltraVPR (primary)" ON)
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option(BUILD_VPR_MEGALOC "Build C2 MegaLoc" OFF)
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option(BUILD_VPR_MIXVPR "Build C2 MixVPR" OFF)
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option(BUILD_VPR_SELAVPR "Build C2 SelaVPR" OFF)
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option(BUILD_VPR_EIGENPLACES "Build C2 EigenPlaces" OFF)
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option(BUILD_VPR_NETVLAD "Build C2 NetVLAD baseline" ON)
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option(BUILD_VPR_SALAD "Build C2 SALAD" OFF)
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option(BUILD_TENSORRT_RUNTIME "Build C7 TensorRT inference runtime" ON)
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option(BUILD_PYTORCH_RUNTIME "Build C7 PyTorch FP16 inference runtime" OFF)
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option(BUILD_C10_PROVISIONING "Build C10 (operator-only)" OFF)
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option(BUILD_C11_TILE_MANAGER "Build C11 (operator-only)" OFF)
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option(BUILD_C12_OPERATOR_ORCHESTRATOR "Build C12 (operator-only)" OFF)
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option(BUILD_GTSAM_BINDINGS "Build cpp/gtsam_bindings (C4+C5)" ON)
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option(BUILD_FAISS_INDEX "Enable C6 FAISS descriptor index (faiss-cpu PyPI; runtime gate, no native target — AZ-306)" ON)
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option(BUILD_VIDEO_FILE_FRAME_SOURCE "Build replay video frame source (AZ-265)" OFF)
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option(BUILD_TLOG_REPLAY_ADAPTER "Build replay tlog FC adapter (AZ-265)" OFF)
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option(BUILD_REPLAY_SINK_JSONL "Build replay JSONL sink (AZ-265)" OFF)
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option(BUILD_REPLAY_CLI "Build replay CLI entrypoint (AZ-265)" OFF)
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option(BUILD_LIVE_CAMERA_FRAME_SOURCE "Build live camera frame source" ON)
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message(STATUS "BUILD_OKVIS2=${BUILD_OKVIS2} BUILD_VINS_MONO=${BUILD_VINS_MONO}")
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message(STATUS "BUILD_TENSORRT_RUNTIME=${BUILD_TENSORRT_RUNTIME} BUILD_GTSAM_BINDINGS=${BUILD_GTSAM_BINDINGS}")
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