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Oleksandr Bezdieniezhnykh
823c0f1b2e
Ship the two Layer-1 cross-cutting Protocols replay mode needs to leave production C1-C5 components mode-agnostic (Invariant 1) and replay- deterministic (Invariant 2). Live + replay binaries see the same interfaces; only the strategy differs. * Clock Protocol (monotonic_ns / time_ns / sleep_until_ns) + WallClock (live + REALTIME replay) + TlogDerivedClock (ASAP replay; advance-on-call; non-monotonic source → ClockOrderingError). * FrameSource Protocol (next_frame -> NavCameraFrame | None / close) + LiveCameraFrameSource (cv2.VideoCapture device index) + VideoFileFrameSource (cv2.VideoCapture file). * Build-flag gating: BUILD_VIDEO_FILE_FRAME_SOURCE, BUILD_LIVE_CAMERA_FRAME_SOURCE (constructor-time check; Tier-0 OFF refuses construction with FrameSourceConfigError). * Composition-root factories: build_clock + build_frame_source. * Injected Clock across every component that previously called time.monotonic_ns() / time.sleep() directly: c5_state (estimator, ESKF, fallback watcher, source-label SM, isam2 handle), c8_fc_adapter (inbound MAVLink + MSP2, AP outbound, iNav outbound, QGC GCS), c13_fdr writer, c12_operator_tooling httpx flights client. All constructors default to WallClock() so existing call sites keep live-binary behaviour without a wiring change. * AC-4 CI guard (tests/_meta/test_no_direct_time_in_components.py) AST-scans components/**/*.py for direct time.monotonic_ns / time.time_ns / time.sleep references and fails loudly with file:line. * Conformance + factory tests: tests/unit/clock + tests/unit/frame_source. * Test fixture updates: FallbackWatcher / SourceLabelStateMachine clock_ns is now required (removed time.monotonic_ns default); test_az388 patches estimator._clock instead of a module-level time; test_az393 ardupilot adapter uses a _FixedClock test double. Excluded per the task spec: TlogReplayFcAdapter (AZ-399), ReplaySink (AZ-400), compose_replay (AZ-401), CLI (AZ-402), Docker/CI (AZ-403), E2E fixture (AZ-404), IMU auto-sync (AZ-405). 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-tooling, 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.