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Oleksandr Bezdieniezhnykh
76f460c88a
Batch 3 of the cycle-1 component-doc sync. For each of C6
(tile_cache), C7 (inference), C8 (fc_adapter):
- Append "Cycle-1 operational reality" paragraph to § 1
documenting the actual cycle-1 wiring path:
- C6: infrastructure seeded via build_pre_constructed's
c6_descriptor_index (BUILD_FAISS_INDEX-gated) and
c6_tile_store slots; no _STRATEGY_REGISTRY slot;
AZ-687 replay-mode guard skips both seeds when the
minimal replay Config omits the c6_tile_cache block.
- C7: single InferenceRuntime built once via
_build_c7_inference, identity-shared as the engine
source for c3_lightglue_runtime (AZ-622 phase D);
C7_AIRBORNE_BUILD_FLAGS lists tensorrt (production-
default) + pytorch_fp16 (Tier-0 fallback);
onnx_trt_ep deliberately omitted from airborne flags;
AZ-687 replay-mode guard cascades to c3_lightglue_runtime.
- C8: composed via a SEPARATE registry path
(runtime_root/fc_factory.py) with its own _FC_REGISTRY
+ _GCS_REGISTRY; per-binary bootstrap modules register
concrete strategies under BUILD_FC_* / BUILD_GCS_*
flags; bind_outbound_emit_thread enforces the
single-writer outbound invariant (AC-6).
- Add "Cycle-1 Tier-2 follow-up dependencies" subsection
in § 7 of C7 only: onnx_trt_ep is implemented and the
inference_factory recognises BUILD_ONNX_TRT_EP_RUNTIME,
but airborne config selecting it raises a clean
AirborneBootstrapError pointing only at the two airborne
options. C6 and C8 have no parked Tier-2 strategies for
cycle-1.
None of c6/c7/c8 import cv2 directly, so no OpenCV pin
row is added to § 5 (D-CROSS-CVE-1 leftover stays as it
is; the relaxed pin is recorded against c2.5/c3/c3.5/c4/c5
where the imports actually live).
Also refresh the D-CROSS-CVE-1 leftover replay timestamp
(condition still upstream-gated: gtsam wheels remain
numpy<2) and bump the autodev state's sub_step.detail to
record "batch 3/~5 done (c6/c7/c8); 4 components + 8
helpers + tests/ remain".
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.