mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 08:21:13 +00:00
Oleksandr Bezdieniezhnykh
38170b3499
AZ-894 added the CSV adapter behind BUILD_CSV_REPLAY_ADAPTER; AZ-895 made the (video, CSV) path the primary replay surface. The two e2e compose files (docker-compose.test.yml + docker-compose.test.jetson.yml) were never updated to set the flag, so the airborne replay binary inside the e2e-runner container hit FcAdapterConfigError as soon as the composition root tried to construct CsvReplayFcAdapter. Caught by a Jetson harness run (5 failures, all in tests/e2e/replay/test_derkachi_1min.py, all with the same stack and the same root cause). After this fix the Jetson run drops to 4 failures, all sharing the AZ-848 ESKF-divergence root cause — handled in the follow-up commit. Co-authored-by: Cursor <cursoragent@cursor.com>
89 lines
3.3 KiB
YAML
89 lines
3.3 KiB
YAML
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
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image: gps-denied-onboard/e2e-runner:dev
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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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# FullSystemConfig requires this full env set (see
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# src/gps_denied_onboard/config/loader.py:_check_required_env).
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# Values mirror the `companion` service in docker-compose.yml so
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# the subprocess invoked by the replay tests can resolve identically.
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GPS_DENIED_FC_PROFILE: ardupilot_plane
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GPS_DENIED_TIER: "1"
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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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# Track-1 bootstrap harness: enable the heavy replay-pipeline tests
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# in tests/e2e/replay/. AZ-602 / AZ-603 / AZ-604.
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RUN_REPLAY_E2E: "1"
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# Replay-mode build flags (Invariant 9; see
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# _replay_branch.REPLAY_BUILD_FLAGS). All three must be ON for
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# the replay path to construct — VideoFileFrameSource gates
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# cv2.VideoCapture, TlogReplayFcAdapter gates pymavlink, and
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# JsonlReplaySink gates the noop-transport sink. The Reality
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# Gate e2e was originally validated only at the auto-sync
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# layer (which fired before any of these three were touched);
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# since AZ-611 lets tests bypass auto-sync, the next two
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# gates surface — hence all three are required here.
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BUILD_VIDEO_FILE_FRAME_SOURCE: "ON"
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BUILD_TLOG_REPLAY_ADAPTER: "ON"
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BUILD_REPLAY_SINK_JSONL: "ON"
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# AZ-894 / AZ-895: the CSV-driven path is now the PRIMARY replay
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# surface (auto-sync was deprecated). `_replay_branch._build_csv_bundle`
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# constructs `CsvReplayFcAdapter`, which fails fast at __init__ when
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# this flag is OFF — every test in tests/e2e/replay/ that runs the
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# `replay_runner` fixture trips that gate without this line.
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BUILD_CSV_REPLAY_ADAPTER: "ON"
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volumes:
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- ./tests:/opt/tests:ro
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# Derkachi fixture (~60 s clip) consumed by the replay e2e suite.
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# Mount path matches `tests/e2e/replay/conftest._derkachi_dir()`,
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# which resolves to <repo-root>/_docs/00_problem/input_data/...
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# where <repo-root> == /opt inside the container.
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- ./_docs/00_problem/input_data:/opt/_docs/00_problem/input_data:ro
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# Writable runtime dirs the SUT expects (FDR_PATH, TILE_CACHE_PATH).
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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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