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https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
9c13ab3bd0
C7 inference (PytorchFp16Runtime / TensorRTRuntime / OnnxTrtEpRuntime)
is CUDA-only by design — `model.half().cuda()` is hard-wired with no
CPU fallback. The Colima/Tier-1 smoke harness can never exercise C3
matcher or C7 inference. Once AZ-614 fixes the tlog time-base mismatch
and the pipeline reaches those stages, Colima runs would hard-fail at
`.cuda()` instead of cleanly skipping.
This commit lays down the Jetson companion harness and wires the
existing `tier2` auto-skip:
* tests/e2e/Dockerfile.jetson — l4t-pytorch:r36.4.0-pth2.3-py3 base,
same /opt layout as the Colima image so AC-4 AST scan + bind mounts
work identically. Built ON the Jetson via run-tests-jetson.sh.
* docker-compose.test.jetson.yml — mirrors docker-compose.test.yml
but with `runtime: nvidia`, GPU device exposure, and
GPS_DENIED_TIER=2 (turns OFF the tier2 auto-skip).
* scripts/run-tests-jetson.sh — rsync → ssh build → ssh up,
exit-code-from e2e-runner so the local exit code reflects the
remote test verdict. No credentials in the repo; uses
`ssh jetson-e2e` alias resolved via ~/.ssh/config.
* _docs/03_implementation/jetson_harness_setup.md — one-time SSH
key + alias + sshd hardening + GPU verification steps. Documents
the smoke vs. Reality Gate split + the GPS_DENIED_TIER switch.
AZ-617 (mark heavy ACs with tier2): adds @pytest.mark.tier2 to AC-1,
AC-2, AC-3, AC-5, AC-6 in tests/e2e/replay/test_derkachi_1min.py.
Reuses the existing tier2 marker + auto-skip in tests/conftest.py
(scope revision documented as a comment on AZ-617). AC-4a/4b/AC-7/AC-9
stay unmarked — they don't touch CUDA.
Defers to follow-up Jira:
* AZ-614 — Derkachi tlog synth time-base mismatch (unblocks tier2 ACs
actually reaching the GPU stage on the Jetson)
* AZ-616 — replace mock-sat with real ../satellite-provider service
Not run yet: the harness needs operator-side SSH setup to come online
before scripts/run-tests-jetson.sh can be executed end-to-end. Setup
steps documented in jetson_harness_setup.md.
Co-authored-by: Cursor <cursoragent@cursor.com>
99 lines
3.4 KiB
YAML
99 lines
3.4 KiB
YAML
# Tier-2 e2e harness — Jetson Orin Nano (JetPack 6.x, L4T R36.x).
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#
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# AZ-615: companion compose file to `docker-compose.test.yml` that runs
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# the full Reality Gate on a CUDA-capable host. Used via `ssh jetson-e2e
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# "docker compose -f docker-compose.test.jetson.yml up ..."` driven by
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# `scripts/run-tests-jetson.sh`.
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#
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# Difference vs. docker-compose.test.yml:
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# * `runtime: nvidia` + `gpus: all` on `e2e-runner` so the SUT can
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# resolve `model.half().cuda()` against the Orin GPU.
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# * `GPS_DENIED_TIER=2` — turns OFF the auto-skip for `@pytest.mark.tier2`
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# ACs (see tests/conftest.py:31-44). The heavy ACs (AC-1, AC-2, AC-3,
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# AC-5, AC-6) actually run.
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# * Builds from `tests/e2e/Dockerfile.jetson` (l4t-pytorch base).
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# * Companion / db / mock-sat continue to come from the root
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# `docker-compose.yml` via `extends:` (same as Colima) — they have ARM64
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# tags via the existing build pipeline.
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#
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# Satellite-provider integration (real .NET service at ../satellite-provider/)
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# is tracked separately under AZ-616 and lands as a follow-up patch to this
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# file once the auth + tile-source strategy is decided.
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services:
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companion:
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extends:
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file: docker-compose.yml
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service: companion
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environment:
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LOG_LEVEL: INFO
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operator-orchestrator:
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extends:
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file: docker-compose.yml
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service: operator-orchestrator
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mock-sat:
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extends:
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file: docker-compose.yml
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service: mock-sat
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db:
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extends:
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file: docker-compose.yml
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service: db
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e2e-runner:
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build:
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context: .
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dockerfile: tests/e2e/Dockerfile.jetson
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image: gps-denied-onboard/e2e-runner:jetson
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# nvidia-container-runtime exposes the Tegra GPU + libcuda mounts.
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# Without this block the container starts but `torch.cuda.is_available()`
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# returns False and every tier2 AC errors at `.cuda()`.
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runtime: nvidia
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [gpu]
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depends_on:
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companion:
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condition: service_healthy
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mock-sat:
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condition: service_healthy
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db:
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condition: service_healthy
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environment:
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# Same FullSystemConfig env block as Colima — see comments in
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# docker-compose.test.yml for the per-var rationale.
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GPS_DENIED_FC_PROFILE: ardupilot_plane
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# Tier-2 turns OFF the `tier2` / `gpu` auto-skip in tests/conftest.py
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# so the heavy ACs in tests/e2e/replay/test_derkachi_1min.py actually
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# execute. This is the WHOLE POINT of the Jetson harness.
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GPS_DENIED_TIER: "2"
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DB_URL: postgresql://gps_denied:dev@db:5432/gps_denied
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SATELLITE_PROVIDER_URL: http://mock-sat:5100
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COMPANION_URL: http://companion:8080
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CAMERA_CALIBRATION_PATH: /opt/tests/fixtures/calibration/adti26.json
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LOG_LEVEL: INFO
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LOG_SINK: console
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INFERENCE_BACKEND: pytorch_fp16
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FDR_PATH: /var/lib/gps-denied/fdr
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TILE_CACHE_PATH: /var/lib/gps-denied/tiles
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MAVLINK_SIGNING_KEY: /opt/tests/fixtures/mavlink_signing/dev_key
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RUN_REPLAY_E2E: "1"
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BUILD_REPLAY_SINK_JSONL: "ON"
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volumes:
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- ./tests:/opt/tests:ro
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- ./_docs/00_problem/input_data:/opt/_docs/00_problem/input_data:ro
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- fdr-data:/var/lib/gps-denied/fdr
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- tile-data:/var/lib/gps-denied/tiles
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volumes:
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db-data: {}
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fdr-data: {}
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tile-data: {}
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