mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 18:51:12 +00:00
Oleksandr Bezdieniezhnykh
3b7265757b
Production-default DescriptorIndex strategy backed by the faiss-cpu PyPI wheel (>=1.7,<2.0). Implements the AZ-303 Protocol surface end to end: HNSW32 + IndexIDMap2 search, atomic three-file rebuild (.index + .sha256 sidecar + .meta.json), triple-consistency load check, mmap-backed reads with IO_FLAG_MMAP|IO_FLAG_READ_ONLY, optional warm-up query at construction, FAISS RuntimeError rewrap to IndexUnavailableError / IndexBuildError, and FaissDescriptorIndex.from_config classmethod wired into runtime_root.storage_factory. The original spec required a custom pybind11 wrapper over a vendored FAISS HEAD; the user opted for the upstream faiss-cpu wheel after research fact #92 confirmed ARM64 wheel availability for Jetson and the existing pyproject.toml already pinned faiss-cpu. cpp/faiss_index/ placeholder removed; BUILD_FAISS_INDEX flag retained as a runtime/factory gate (no native target). Spec rewritten end-to-end and archived to _docs/02_tasks/done/. C6TileCacheConfig extended with faiss_index_path and faiss_warmup_query_path fields. tests/conftest.py sets KMP_DUPLICATE_LIB_OK=TRUE to remediate the macOS faiss/torch libomp duplicate-load abort during pytest (no-op on CI Linux). 21 new tests cover AC-1..12 + 2 NFRs + from_config smoke; AZ-303 protocol-conformance fake updated with from_config classmethod. Tests: 124/124 c6_tile_cache pass; 1334 project-wide pass; 1 pre-existing OKVIS2 submodule failure unrelated. Doc sync: module-layout.md, components/08_c6_tile_cache/description.md §5, batch_35_cycle1_report.md. Co-authored-by: Cursor <cursoragent@cursor.com>
53 lines
1.9 KiB
Python
53 lines
1.9 KiB
Python
"""Top-level pytest fixtures.
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Heavy fixtures (Postgres bring-up, ArduPilot SITL, Derkachi corpus mount) are added
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incrementally by the components that need them. AZ-263 ships only the smoke-level
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scaffolding.
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Tier-2-only tests are guarded by `pytest.mark.tier2` and auto-skipped on Tier-1.
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"""
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from __future__ import annotations
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# AZ-306: faiss-cpu and torch each ship their own copy of libomp on macOS;
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# loading both into the same process triggers `OMP: Error #15` and an abort
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# inside FAISS native code. Setting `KMP_DUPLICATE_LIB_OK` here — BEFORE
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# any test module imports either library — opts into the documented
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# Intel OpenMP "duplicate-load tolerated" mode, which is the standard
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# remediation for mixed-runtime scientific stacks on macOS dev hosts.
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# CI Linux images don't need this; the setdefault keeps it a no-op there.
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import os as _os
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_os.environ.setdefault("KMP_DUPLICATE_LIB_OK", "TRUE")
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import os
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from collections.abc import Iterator
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import pytest
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from gps_denied_onboard.fdr_client.fakes import FakeFdrSink
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def pytest_collection_modifyitems(config: pytest.Config, items: list[pytest.Item]) -> None:
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"""Auto-skip `tier2` tests when GPS_DENIED_TIER != 2."""
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if os.environ.get("GPS_DENIED_TIER") == "2":
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return
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skip_tier2 = pytest.mark.skip(reason="Tier-2-only test; set GPS_DENIED_TIER=2 to run")
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skip_gpu = pytest.mark.skip(reason="GPU-only test")
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skip_docker = pytest.mark.skip(reason="Requires Docker compose services")
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for item in items:
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if "tier2" in item.keywords:
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item.add_marker(skip_tier2)
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if "gpu" in item.keywords:
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item.add_marker(skip_gpu)
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if "docker" in item.keywords:
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item.add_marker(skip_docker)
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@pytest.fixture
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def fake_fdr_sink() -> Iterator[FakeFdrSink]:
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"""Default-configuration FakeFdrSink with overrun policy disabled (AZ-275 AC-5)."""
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sink = FakeFdrSink(producer_id="test.producer")
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yield sink
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sink.flush()
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