mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:21:13 +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>
37 lines
2.2 KiB
CMake
37 lines
2.2 KiB
CMake
# Per-binary build-time exclusion (ADR-002).
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#
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# Single source of truth for the BUILD_* flag set referenced from
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# `.github/workflows/ci.yml` and the composition-root validator in
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# `src/gps_denied_onboard/runtime_root.py`.
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option(BUILD_OKVIS2 "Build C1 OKVIS2 VIO strategy" ON)
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option(BUILD_VINS_MONO "Build C1 VINS-Mono VIO strategy" OFF)
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option(BUILD_KLT_RANSAC "Build C1 KLT/RANSAC simple baseline" ON)
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option(BUILD_VPR_ULTRA "Build C2 UltraVPR (primary)" ON)
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option(BUILD_VPR_MEGALOC "Build C2 MegaLoc" OFF)
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option(BUILD_VPR_MIXVPR "Build C2 MixVPR" OFF)
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option(BUILD_VPR_SELAVPR "Build C2 SelaVPR" OFF)
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option(BUILD_VPR_EIGENPLACES "Build C2 EigenPlaces" OFF)
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option(BUILD_VPR_NETVLAD "Build C2 NetVLAD baseline" ON)
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option(BUILD_VPR_SALAD "Build C2 SALAD" OFF)
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option(BUILD_TENSORRT_RUNTIME "Build C7 TensorRT inference runtime" ON)
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option(BUILD_PYTORCH_RUNTIME "Build C7 PyTorch FP16 inference runtime" OFF)
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option(BUILD_C10_PROVISIONING "Build C10 (operator-only)" OFF)
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option(BUILD_C11_TILE_MANAGER "Build C11 (operator-only)" OFF)
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option(BUILD_C12_OPERATOR_TOOLING "Build C12 (operator-only)" OFF)
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option(BUILD_GTSAM_BINDINGS "Build cpp/gtsam_bindings (C4+C5)" ON)
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option(BUILD_FAISS_INDEX "Build cpp/faiss_index (C6)" ON)
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option(BUILD_VIDEO_FILE_FRAME_SOURCE "Build replay video frame source (AZ-265)" OFF)
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option(BUILD_TLOG_REPLAY_ADAPTER "Build replay tlog FC adapter (AZ-265)" OFF)
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option(BUILD_REPLAY_SINK_JSONL "Build replay JSONL sink (AZ-265)" OFF)
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option(BUILD_REPLAY_CLI "Build replay CLI entrypoint (AZ-265)" OFF)
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option(BUILD_LIVE_CAMERA_FRAME_SOURCE "Build live camera frame source" ON)
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message(STATUS "BUILD_OKVIS2=${BUILD_OKVIS2} BUILD_VINS_MONO=${BUILD_VINS_MONO}")
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message(STATUS "BUILD_TENSORRT_RUNTIME=${BUILD_TENSORRT_RUNTIME} BUILD_GTSAM_BINDINGS=${BUILD_GTSAM_BINDINGS}")
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