mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 15:21:14 +00:00
Oleksandr Bezdieniezhnykh
b12db61444
Implements the AZ-263 / E-BOOT initial structure task:
- Python src/-layout package `gps_denied_onboard/` with per-component
interface stubs (14 components), type-only DTOs under `_types/`,
shared helpers under `helpers/` (R14 LightGlue ownership), structured
JSON logging, runtime composition root with env-var fail-fast gate,
healthcheck module shared by Docker and CI smoke.
- CMake top-level + `cmake/{build_options,dependencies,strategies}.cmake`
with the BUILD_* per-binary flags (ADR-002) and pinned external git
refs for OKVIS2 / VINS-Mono / GTSAM / FAISS / OpenCV >=4.12.0.
- Three Dockerfiles (companion-tier1, operator-tooling,
mock-suite-sat-service) + two compose files (dev + Tier-1 test).
- Four GitHub Actions workflows: ci.yml (lint/unit/integration/dual
binary build/SBOM diff/security), ci-tier2.yml (self-hosted Jetson
AC-bound NFTs), release.yml, cve-rescan.yml.
- Two CI gate scripts: `ci/sbom_diff.py` (deployment SBOM subset +
R02 exclusion), `ci/opencv_pin_gate.py` (>=4.12.0 enforcement,
D-CROSS-CVE-1).
- Alembic-driven Postgres 16 initial migration `0001_initial.py`
mirroring satellite-provider tiles + flights + sector_classifications
+ manifests + engine_cache_entries (data_model.md s 2).
- Tier-1 test scaffolding: 95 passing unit tests covering every AC,
per-component smoke tests, structured logging JSON output check,
env-var gate check, healthcheck import check. Two CI-gated tests
(cmake configure, actionlint) skip locally with explicit reasons.
- Batch report + code review report under `_docs/03_implementation/`.
Verdict: PASS_WITH_WARNINGS (two Low findings, both informational).
Co-authored-by: Cursor <cursoragent@cursor.com>
90 lines
2.6 KiB
YAML
90 lines
2.6 KiB
YAML
services:
|
|
companion:
|
|
build:
|
|
context: .
|
|
dockerfile: docker/companion-tier1.Dockerfile
|
|
image: gps-denied-onboard/companion:dev
|
|
depends_on:
|
|
db:
|
|
condition: service_healthy
|
|
mock-sat:
|
|
condition: service_healthy
|
|
environment:
|
|
GPS_DENIED_FC_PROFILE: ardupilot_plane
|
|
GPS_DENIED_TIER: "1"
|
|
DB_URL: postgresql://gps_denied:dev@db:5432/gps_denied
|
|
SATELLITE_PROVIDER_URL: http://mock-sat:5100
|
|
CAMERA_CALIBRATION_PATH: /fixtures/calibration/adti26.json
|
|
LOG_LEVEL: DEBUG
|
|
LOG_SINK: console
|
|
INFERENCE_BACKEND: pytorch_fp16
|
|
FDR_PATH: /var/lib/gps-denied/fdr
|
|
TILE_CACHE_PATH: /var/lib/gps-denied/tiles
|
|
MAVLINK_SIGNING_KEY: /fixtures/mavlink_signing/dev_key
|
|
volumes:
|
|
- ./tests/fixtures:/fixtures:ro
|
|
- fdr-data:/var/lib/gps-denied/fdr
|
|
- tile-data:/var/lib/gps-denied/tiles
|
|
healthcheck:
|
|
test: ["CMD", "python3", "-m", "gps_denied_onboard.healthcheck"]
|
|
interval: 10s
|
|
timeout: 3s
|
|
retries: 3
|
|
|
|
operator-tooling:
|
|
build:
|
|
context: .
|
|
dockerfile: docker/operator-tooling.Dockerfile
|
|
image: gps-denied-onboard/operator-tooling:dev
|
|
depends_on:
|
|
db:
|
|
condition: service_healthy
|
|
environment:
|
|
GPS_DENIED_FC_PROFILE: ardupilot_plane
|
|
GPS_DENIED_TIER: "1"
|
|
DB_URL: postgresql://gps_denied:dev@db:5432/gps_denied
|
|
SATELLITE_PROVIDER_URL: http://mock-sat:5100
|
|
CAMERA_CALIBRATION_PATH: /fixtures/calibration/adti26.json
|
|
LOG_LEVEL: DEBUG
|
|
LOG_SINK: console
|
|
INFERENCE_BACKEND: pytorch_fp16
|
|
FDR_PATH: /var/lib/gps-denied/fdr
|
|
TILE_CACHE_PATH: /var/lib/gps-denied/tiles
|
|
MAVLINK_SIGNING_KEY: /fixtures/mavlink_signing/dev_key
|
|
volumes:
|
|
- ./tests/fixtures:/fixtures:ro
|
|
- tile-data:/var/lib/gps-denied/tiles
|
|
|
|
mock-sat:
|
|
build:
|
|
context: .
|
|
dockerfile: docker/mock-suite-sat-service.Dockerfile
|
|
image: gps-denied-onboard/mock-suite-sat-service:dev
|
|
ports:
|
|
- "5100:5100"
|
|
healthcheck:
|
|
test: ["CMD", "python", "-c", "import urllib.request; urllib.request.urlopen('http://127.0.0.1:5100/healthz').read()"]
|
|
interval: 5s
|
|
timeout: 2s
|
|
retries: 5
|
|
|
|
db:
|
|
image: postgres:16-alpine
|
|
environment:
|
|
POSTGRES_USER: gps_denied
|
|
POSTGRES_PASSWORD: dev
|
|
POSTGRES_DB: gps_denied
|
|
volumes:
|
|
- db-data:/var/lib/postgresql/data
|
|
- ./docker/db-init:/docker-entrypoint-initdb.d:ro
|
|
healthcheck:
|
|
test: ["CMD-SHELL", "pg_isready -U gps_denied -d gps_denied"]
|
|
interval: 5s
|
|
timeout: 3s
|
|
retries: 10
|
|
|
|
volumes:
|
|
db-data: {}
|
|
fdr-data: {}
|
|
tile-data: {}
|